Obtaining 3d modeling data using uavs for cell sites

ABSTRACT

Systems and methods using an Unmanned Aerial Vehicle (UAV) to perform physical functions on a cell tower at a cell site include flying the UAV at or near the cell site, wherein the UAV comprises one or more manipulable members; moving the one or more manipulable members when proximate to a location at the cell tower where the physical functions are performed to effectuate the physical functions; and utilizing one or more counterbalancing techniques during the moving ensuring a weight distribution of the UAV remains substantially the same.

CROSS-REFERENCE TO RELATED APPLICATION(S)

The present patent/application is continuation-in-part of and thecontent of each are incorporated by reference herein:

Filing Date Ser. No. Title Sep. 8, 2016 15/259,451 COUNTERBALANCINGUNMANNED AERIAL VEHICLES DURING OPERATIONS ASSOCIATED WITH CELL TOWERSAug. 26, 2016 15/248,634 USING DRONES TO LIFT PERSONNEL UP CELL TOWERSAug. 19, 2016 15/241,239 3D MODELING OF CELL SITES TO DETECTCONFIGURATION AND SITE CHANGES Jul. 15, 2016 15/211,483 CLOSE-OUT AUDITSYSTEMS AND METHODS FOR CELL SITE INSTALLATION AND MAINTENANCE Jul. 8,2016 15/205,313 CELL TOWER INSTALLATION AND MAINTENANCE SYSTEMS ANDMETHODS USING ROBOTIC DEVICES Jun. 23, 2016 15/190,450 CELL TOWERINSTALLATION SYSTEMS AND METHODS WITH UNMANNED AERIAL VEHICLES Jun. 7,2016 15/175,314 WIRELESS COVERAGE TESTING SYSTEMS AND METHODS WITHUNMANNED AERIAL VEHICLES May 31, 2016 15/168,503 VIRTUALIZED SITE SURVEYSYSTEMS AND METHODS FOR CELL SITES May 20, 2016 15/160,890 3D MODELINGOF CELL SITES AND CELL TOWERS WITH UNMANNED AERIAL VEHICLES Apr. 18,2016 15/131,460 UNMANNED AERIAL VEHICLE-BASED SYSTEMS AND METHODSASSOCIATED WITH CELL SITES AND CELL TOWERS WITH ROBOTIC ARMS FORPERFORMING OPERATIONS Jun. 11, 2016 14/736,925 TETHERED UNMANNED AERIALVEHICLE-BASED SYSTEMS AND METHODS ASSOCIATED WITH CELL SITES AND CELLTOWERS Apr. 14, 2016 14/685,720 UNMANNED AERIAL VEHICLE-BASED SYSTEMSAND METHODS ASSOCIATED WITH CELL SITES AND CELL TOWERS

FIELD OF THE DISCLOSURE

The present disclosure relates generally to cell site maintenancesystems and methods. More particularly, the present disclosure relatesto obtaining three-dimensional (3D) modeling data using Unmanned AerialVehicles (UAVs) (also referred to as “drones”) or the like at cellsites, cell towers, etc.

BACKGROUND OF THE DISCLOSURE

Due to the geographic coverage nature of wireless service, there arehundreds of thousands of cell towers in the United States. For example,in 2014, it was estimated that there were more than 310,000 cell towersin the United States. Cell towers can have heights up to 1,500 feet ormore. There are various requirements for cell site workers (alsoreferred to as tower climbers or transmission tower workers) to climbcell towers to perform maintenance, audit, and repair work for cellularphone and other wireless communications companies. This is both adangerous and costly endeavor. For example, between 2003 and 2011, 50tower climbers died working on cell sites (see, e.g.,www.pbs.org/wgbh/pages/frontline/social-issues/cell-tower-deaths/in-race-for-better-cell-service-men-who-climb-towers-pay-with-their-lives/).Also OSHA estimates that working on cell sites is 10 times moredangerous than construction work, generally (see, e.g.,www.propublica.org/article/cell-tower-work-fatalities-methodology).Furthermore, the tower climbs also can lead to service disruptionscaused by accidents. Thus, there is a strong desire, from both a costand safety perspective, to reduce the number of tower climbs.

Concurrently, the use of unmanned aerial vehicles (UAV), referred to asdrones, is evolving. There are limitations associated with UAVs,including emerging FAA rules and guidelines associated with theircommercial use. It would be advantageous to leverage the use of UAVs toreduce tower climbs of cell towers. US 20140298181 to Rezvan describesmethods and systems for performing a cell site audit remotely. However,Rezvan does not contemplate performing any activity locally at the cellsite, nor various aspects of UAV use. US 20120250010 to Hannay describesaerial inspections of transmission lines using drones. However, Hannaydoes not contemplate performing any activity locally at the cell site,nor various aspects of constraining the UAV use. Specifically, Hannaycontemplates a flight path in three dimensions along a transmissionline.

Of course it would be advantageous to further utilize UAVs to actuallyperform operations on a cell tower. However, adding one or more roboticarms, carrying extra equipment, etc. presents a significantly complexproblem in terms of UAV stabilization while in flight, i.e.,counterbalancing the UAV to account for the weight and movement of therobotic arms. Research and development continues in this area, butcurrent solutions are complex and costly, eliminating the drivers forusing UAVs for performing cell tower work.

3D modeling is important for cell site operators, cell tower owners,engineers, etc. There exist current techniques to make 3D models ofphysical sites such as cell sites. One approach is to take hundreds orthousands of pictures and to use software techniques to combine thesepictures to form a 3D model. Generally, conventional approaches forobtaining the pictures include fixed cameras at the ground with zoomcapabilities or pictures via tower climbers. It would be advantageous toutilize a UAV to obtain the pictures, providing 360 degree photos froman aerial perspective. Use of aerial pictures is suggested in US20100231687 to Armory. However, this approach generally assumes picturestaken from a fixed perspective relative to the cell site, such as via afixed, mounted camera and a mounted camera in an aircraft. It has beendetermined that such an approach is moderately inaccurate during 3Dmodeling and combination with software due to slight variations inlocation tracking capabilities of systems such as Global PositioningSatellite (GPS). It would be advantageous to adapt a UAV to takepictures and provide systems and methods for accurate 3D modeling basedthereon to again leverage the advantages of UAVs over tower climbers,i.e., safety, climbing speed and overall speed, cost, etc.

In the process of planning, installing, maintaining, and operating cellsites and cell towers, site surveys are performed for testing, auditing,planning, diagnosing, inventorying, etc. Conventional site surveysinvolve physical site access including access to the top of the celltower, the interior of any buildings, cabinets, shelters, huts, hardenedstructures, etc. at the cell site, and the like. With over 200,000 cellsites in the U.S., geographically distributed everywhere, site surveyscan be expensive, time-consuming, and complex. The various parentapplications associated herewith describe techniques to utilize UAVs tooptimize and provide safer site surveys. It would also be advantageousto further optimize site surveys by minimizing travel throughvirtualization of the entire process.

Wireless coverage testing is important for service providers andconsumers—it is used for marketing purposes (who has the better network)and for engineering purposes (where do we need to augment or improve ourcoverage). Conventional approaches to wireless coverage testing utilizeso-called drive tests where wireless coverage is tested by physicallydriving around a region with a test device and making measurements alongthe way. The conventional approaches are limited to ground coverage, notaerial coverage, as conventional drive tests are just that—driven by avehicle on the ground. The Federal Aviation Administration (FAA) isinvestigating use of the wireless network in some manner for air trafficcontrol of UAVs. Thus, there is a need to extend conventional drivetests to support wireless coverage testing above the ground.

As networks evolve, there is a continuous need to install equipment oncell towers, such as antennas, radios, and the like. Such equipment canweigh greater than 100 lbs, requiring construction equipment to raise itto the top of the cell tower or the like. Of course, the conventionapproach also requires tower climbs, is expensive, and inefficient. Itwould be advantageous to improve these approaches using UAVs, to reducerequirements for tower climbs, eliminate the need for constructionequipment, lower cost, and improve installation time.

Again, with over 200,000 cell sites in the U.S., each time there ismaintenance or installation activity at each cell site, operators andowners typically require a close-out audit which is done to document andverify the work performed. For example, the maintenance or installationactivity can be performed by a third-party installation firm (separatefrom an operator or owner) and an objective of the close-out audit is toprovide the operator or owner verification of the work as well as thatthe third-party installation firm did the work in a manner consistentwith the operator or owner's expectations. Conventionally, close-outaudits are performed by another firm, i.e., a third-party inspectionfirm, separate from the third-party installation firm, the owner, andthe operator. Disadvantageously, this conventional approach with aseparate third-party inspection firm is inefficient, expensive, etc.

Also, with over 200,000 cell sites, it is difficult to monitor activity,namely configurations, physical structure, surroundings, etc., andassociated changes. The typical arrangement includes a cell site owner,which is typically a real estate company, leasing space to cell siteoperators, i.e., wireless service providers. It is incumbent that thecell site owners maintain accurate records of the cell sites, includingthe configuration (i.e., are the operators deploying more equipment thanagreements state?), physical structure (i.e., are there mechanic issueswith the cell site?), surroundings (i.e., are there safety issues?), andthe like. Conventional approaches require physical site surveys toobtain such information which with over 200,000 cells sites isexpensive, time consuming, slow, etc.

Of course, there are still requirements to perform tower climbs for someinstallation and maintenance activity at cell towers. In addition to theaforementioned safety issues, another large drawback of conventionaltower climbs is the time and physical effort involved. To climb to thetop, personnel must climb in increments and continually hook in tosafety harnesses. Once at the top, the personnel must rest to recoverfrom climbing several hundred feet. Conventional tower climbs can takewell over an hour, lead the personnel to exhaustion, etc.

BRIEF SUMMARY OF THE DISCLOSURE

In an exemplary embodiment, a method using an Unmanned Aerial Vehicle(UAV) to obtain data capture at a cell site for developing a threedimensional (3D) thereof includes causing the UAV to fly a given flightpath about a cell tower at the cell site; obtaining data capture duringthe flight path about the cell tower, wherein the data capture comprisesa plurality of photos or video, wherein the flight path is subjected toa plurality of constraints for the obtaining, and wherein the datacapture comprises one or more location identifiers; and subsequent tothe obtaining, processing the data capture to define a three dimensional(3D) model of the cell site based on one or more objects of interest inthe data capture.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is illustrated and described herein withreference to the various drawings, in which like reference numbers areused to denote like system components/method steps, as appropriate, andin which:

FIG. 1 is a diagram of a side view of an exemplary cell site;

FIG. 2 is a diagram of a cell site audit performed with an unmannedaerial vehicle (UAV);

FIG. 3 is a screen diagram of a view of a graphical user interface (GUI)on a mobile device while piloting the UAV;

FIG. 4 is a perspective view of an exemplary UAV for use with thesystems and methods described herein’

FIG. 5 is a block diagram of a mobile device, which may be used for thecell site audit or the like;

FIG. 6 is a flow chart of a cell site audit method utilizing the UAV andthe mobile device;

FIG. 7 is a network diagram of various cell sites deployed in ageographic region;

FIG. 8 is a diagram of a tethered configuration with a UAV at a cellsite;

FIG. 9 is a diagram of another tethered configuration with a UAV at acell site;

FIG. 10 is a flowchart of a method with a tethered UAV associated with acell site;

FIG. 11 is a diagram of a UAV with robotic arms at a cell site;

FIG. 12 is a block diagram of the UAV with robotic arms and a payload ata cell site;

FIG. 13 is a flowchart of a method with a UAV with robotic arms at acell site;

FIG. 14 is a diagram of the cell site and an associated launchconfiguration and flight for the UAV to obtain photos for a 3D model ofthe cell site;

FIG. 15 is a satellite view of an exemplary flight of the UAV at thecell site;

FIG. 16 is a side view of an exemplary flight of the UAV at the cellsite;

FIG. 17 is a logical diagram of a portion of a cell tower along withassociated photos taken by the UAV at different points relative thereto;

FIG. 18 is a screen shot of a Graphic User Interface (GUI) associatedwith post processing photos from the UAV;

FIG. 19 is a screen shot of a 3D model constructed from a plurality of2D photos taken from the UAV as described herein;

FIGS. 20-25 are various screen shots illustrate GUIs associated with a3D model of a cell site based on photos taken from the UAV as describedherein;

FIG. 26 is a photo of the UAV in flight at the top of a cell tower;

FIG. 27 is a flowchart of a process for modeling a cell site with anUnmanned Aerial Vehicle (UAV);

FIG. 28 is a diagram of an exemplary interior of a building, such as theshelter or cabinet, at the cell site;

FIG. 29 is a flowchart of a virtual site survey process for the cellsite;

FIG. 30 is a block diagram of functional components associated with theUAV to support wireless coverage testing;

FIG. 31 is a map of three cell sites and associated coverage areas fordescribing conventional drive testing;

FIG. 32 is a 3D view of a cell tower with an associated coverage area inthree dimensions—x, y, and z for illustrating UAV-based wirelesscoverage testing;

FIG. 33 is a flowchart of a UAV-based wireless coverage testing process;

FIG. 34 is a diagram of a partial view of the exemplary cell site fordescribing installation of equipment with the UAV;

FIG. 35 is a diagram of a view of the horizontal support structures onthe cell tower and the antenna for describing installation of equipmentwith the UAV;

FIG. 36 is a flowchart of an Unmanned Aerial Vehicle (UAV)-basedinstallation method for equipment on cell towers;

FIGS. 37A-37C are diagrams of different types of cell towers, namely aself-support tower (FIG. 37A), a monopole tower (FIG. 37B), and a guyedtower (FIG. 37C);

FIG. 38 is a block diagram illustrates a robotic device configured foruse with the cell towers for installation and/or maintenance of cellsite components on the cell towers;

FIG. 39 is a flowchart of a method for installation and maintenance ofcell site components with the robotic device;

FIG. 40 is a flowchart illustrates a close-out audit method performed ata cell site subsequent to maintenance or installation work;

FIG. 41 is a flowchart of a 3D modeling method to detect configurationand site changes;

FIG. 42 is a diagram of a drone adapted to transport a person up a celltower;

FIG. 43 is a diagram of another drone adapted to transport a person upthe cell tower;

FIG. 44 is a diagram of a single person propulsion system adapted totransport a person up the cell tower;

FIG. 45 is a diagram of a cell tower with various platforms forreceiving a person from a drone or the like;

FIG. 46 is a flowchart of a method for transporting maintenancepersonnel to a cell tower;

FIGS. 47A, 47B, and 47C are diagrams of various counterbalancetechniques for the UAV including an extendible arm (FIG. 47A), opposingrobotic arms (FIG. 47B), and moveable weights (FIG. 47C);

FIG. 48 is a flow diagram of a 3D model creation process; and

FIG. 49 is a flowchart of a method using an Unmanned Aerial Vehicle(UAV) to obtain data capture at a cell site for developing a threedimensional (3D) thereof.

DETAILED DESCRIPTION OF THE DISCLOSURE

Again, in an exemplary embodiment, the present disclosure relates tosystems and methods for obtaining three-dimensional (3D) modeling datausing Unmanned Aerial Vehicles (UAVs) (also referred to as “drones”) orthe like at cell sites, cell towers, etc. Variously, the systems andmethods describe various techniques using UAVs or the like to obtaindata, i.e., pictures and/or video, used to subsequently create a 3Dmodel of a cell site. Various uses of the 3D model are also describedincluding site surveys, site monitoring, engineering, etc.

Further, in an exemplary embodiment, the present disclosure relates tocounterbalancing techniques when using Unmanned Aerial Vehicles (UAVs)“drones” or the like to perform operations on cell towers. Specifically,UAVs can be used, as described herein, for various monitoring functionssuch as cell site audits and inspections. Also, UAVs can be adapted toperform physical functions replacing a technician and avoiding a towerclimb. In various exemplary embodiments described herein, UAVs can beused at cell towers to bring equipment up (e.g., antennas), use roboticarms for manipulating and carrying objects, to connect to the cell towerfor stabilization, to carry personnel up the cell tower, etc. In thesevarious applications, the counterbalancing techniques ensure properflight of the UAV avoiding sudden weight distribution changes in the UAVwhich negatively affect the flight.

Further, in an exemplary embodiment, the present disclosure relates tousing Unmanned Aerial Vehicles (UAVs) “drones” or the like to liftmaintenance personnel up cell towers. Advantageously, drones allowmaintenance personnel to be lifted quickly, safer relative to a towerclimb, and without physical exertion. Such an approach significantlyimproves the efficiency, cost, and time associated with maintenance andinstallation at cell towers. In an exemplary embodiment, the cell towersinclude one or more platforms for receiving personnel, the drones areconfigured to fly personnel up to the platform, the personnel performthe maintenance and/or installation, and the personnel are flown downfrom the platform. In an exemplary embodiment, the drone is configuredto connect to the platform while the personnel perform the maintenanceand/or installation. In another exemplary embodiment, the drone isconfigured to automatically or under remote control fly back to theground awaiting completion of the maintenance and/or installation.Various other approaches are contemplated.

Further, in an exemplary embodiment, the present disclosure relates tothree-dimensional (3D) modeling of cell sites to detect configurationand site changes. Again, the challenge for cell site owners is to managethousands of cell sites which are geographically distributed. The 3Dmodeling systems and methods utilize various techniques to obtain data,to create 3D models, and to detect changes in configurations andsurroundings. The 3D models can be created at two or more differentpoints in time, and with the different 3D models, a comparison can bemade to detect the changes. Advantageously, the 3D modeling systems andmethods allow cell site operators to efficiently manage the cell siteswithout repeated physical site surveys.

Further, in various exemplary embodiments, the present disclosurerelates to close-out audit systems and methods for cell siteinstallation and maintenance. Specifically, the systems and methodseliminate the separate third-party inspection firm for the close-outaudit. The systems and methods include the installers (i.e., from thethird-party installation firm, the owner, the operator, etc.) performingvideo capture subsequent to the installation and maintenance and usingvarious techniques to obtain data from the video capture for theclose-out audit. The close-out audit can be performed off-site with thedata from the video capture thereby eliminating unnecessary towerclimbs, site visits, and the like.

Further, in various exemplary embodiments, the present disclosurerelates to cell tower installation systems and methods with roboticdevices. Specifically, the systems and methods seek to reduce or avoidtower climbs for installation and maintenance on equipment on celltowers by using robotic devices. The robotic devices can crawl to thetop of the cell tower, can be delivered by Unmanned Aerial Vehicles(UAV), can be delivered by guide wire, can be delivered by a crane,pulley, etc. or the like. While on the tower, the robotic devices can beused, either manually, autonomously, or a combination of both, toperform various tasks on cell tower equipment such as antennas or thelike. In an exemplary embodiment, the robotic device can be used tobring cabling up the cell tower in conjunction with UAV-based systemsand methods which install equipment such as antennas.

Further, in various exemplary embodiments, the present disclosurerelates to cell tower installation systems and methods with unmannedaerial vehicles (UAVs). Specifically, the installation systems andmethods describe use of the UAV to deliver and install equipment on celltowers, such as antennas, radios, and the like. To that end, the systemsand methods include various attachment techniques to connect theequipment to horizontal support structures on the cell tower, such as,for example, magnets, mechanical attachments, and the like. Thehorizontal support structures can include directional aids to assistand/or automate the UAV placement of the equipment. In an exemplaryembodiment, the UAV is configured to place the equipment with atemporary attachment such as magnet which holds the equipment in placewhile it is secured through other techniques. In another exemplaryembodiment, the UAV is configured to automatically attach the equipmentvia fixed attachments such as automatic clamps or the like. With thedirectional aids, the UAV can be autonomous in the placement of theequipment on the cell tower.

Further, in various exemplary embodiments, the present disclosurerelates to wireless coverage testing systems and methods with unmannedaerial vehicles (UAVs). Specifically, a UAV is equipment with equipmentfor performing a wireless coverage test, e.g., wireless scanners,location identification equipment, antennas, and processing and datastorage equipment. The UAV is flown about a cell tower around a region,taking measurements along the way. Subsequently, processing on themeasurements enables the assessment of wireless coverage not just nearthe ground, but in the aerial region about the cell tower in the region.It is expected such measurements and assessments can be used to ensureproper wireless coverage in the air, such as up to 100's of feet,enabling the cell tower to act as an air traffic control point for UAVsflying in the region as well as a central hub for managing andcontrolling UAVs. Additionally, the wireless coverage testing systemsand methods provide a quicker and more efficient improvement overconventional drive tests solely on the ground.

Further, in various exemplary embodiments, the present disclosurerelates to virtualized site survey systems and methods usingthree-dimensional (3D) modeling of cell sites and cell towers with andwithout unmanned aerial vehicles. The virtualized site survey systemsand methods utilizing photo data capture along with locationidentifiers, points of interest, etc. to create three-dimensional (3D)modeling of all aspects of the cell sites, including interiors ofbuildings, cabinets, shelters, huts, hardened structures, etc. Asdescribed herein, a site survey can also include a site inspection, cellsite audit, or anything performed based on the 3D model of the cell siteincluding building interiors. With the data capture, 3D modeling canrender a completely virtual representation of the cell sites. The datacapture can be performed by on-site personnel, automatically with fixed,networked cameras, or a combination thereof. With the data capture andthe associated 3D model, engineers and planners can perform sitesurveys, without visiting the sites leading to significant efficiency incost and time. From the 3D model, any aspect of the site survey can beperformed remotely including determinations of equipment location,accurate spatial rendering, planning through drag and drop placement ofequipment, access to actual photos through a Graphical User Interface,indoor texture mapping, and equipment configuration visualizationmapping the equipment in a 3D rack.

Further, in various exemplary embodiments, the present disclosurerelates to three-dimensional (3D) modeling of cell sites and cell towerswith unmanned aerial vehicles. The present disclosure includes UAV-basedsystems and methods for 3D modeling and representing of cell sites andcell towers. The systems and methods include obtaining various picturesvia a UAV at the cell site, flying around the cell site to obtainvarious different angles of various locations, tracking the variouspictures (i.e., enough pictures to produce an acceptable 3D model,usually hundreds, but could be more) with location identifiers, andprocessing the various pictures to develop a 3D model of the cell siteand the cell tower. Additionally, the systems and methods focus onprecision and accuracy ensuring the location identifiers are as accurateas possible for the processing by using multiple different locationtracking techniques as well as ensuring the UAV is launched from a samelocation and/or orientation for each flight. The same location and/ororientation, as described herein, was shown to provide more accuratelocation identifiers versus arbitrary location launches and orientationsfor different flights. Additionally, once the 3D model is constructed,the systems and methods include an application which enables cell siteowners and cell site operators to “click” on any location and obtainassociated photos, something extremely useful in the ongoing maintenanceand operation thereof. Also, once constructed, the 3D model is capableof various measurements including height, angles, thickness, elevation,even Radio Frequency (RF), and the like.

Still further, in various exemplary embodiments, the present disclosurerelates to unmanned aerial vehicle (UAV)-based systems and methodsassociated with cell sites and cell towers, such as performingoperations on cell towers via robotic arms on the UAV. To solve theissues of counterbalancing the UAV with additional weight due tocarrying components and robotic arm movement, the systems and methodsphysically connect the UAV to the cell tower prior to deploying andoperating the robotic arms. In this manner, the UAV can be flown up thecell tower with the robotic arms stationary and optionally withequipment carried therein, tethered to the cell tower, and the roboticarms can move without requiring counterbalancing of the UAV in flight.That is, the UAV is stationary and fixed to the cell tower whileperforming operations and maneuvers with the robotic arms. Accordingly,the systems and methods do not require complex counterbalancingtechniques and provide superior stability since the UAV is not in flightwhile using the robotic arms. This approach allows use of commercial UAVdevices without requiring complex control circuitry. Specifically, celltowers lend themselves to physical connections to the UAV. As describedherein, various maintenance and installation tasks can be accomplishedon a cell tower while eliminating tower climbs therefor.

Still further, in additional exemplary embodiments, UAV-based systemsand methods are described associated with cell sites, such as forproviding cell tower audits and the like, including a tetheredconfiguration. Various aspects of UAVs are described herein to reducetower climbs in conjunction with cell tower audits. Additional aspectsare described utilizing UAVs for other functions, such as flying fromcell tower to cell tower to provide audit services and the like.Advantageously, using UAVs for cell tower audits exponentially improvesthe safety of cell tower audits and has been shown by Applicants toreduce costs by over 40%, as well as drastically improving audit time.With the various aspects described herein, a UAV-based audit can providesuperior information and quality of such information, including a 360degree tower view. In one aspect, the systems and methods include aconstrained flight zone for the UAV such as a three-dimensionalrectangle (an “ice cube” shape) about the cell tower. This constrainedflight zone allows the systems and methods to operate the UAV withoutextensive regulations such as including extra personnel for “spotting”and requiring private pilot's licenses.

The tethered configuration includes a connection between the UAV and oneor more components at a cell site. The connection can include a cable, arope, a power cable, a communications cable, a fiber optic cable, etc.,i.e., any connection with strength to constrain the UAV to the cellsite. One aspect of the tethered configuration is to constrain a flightpath of the UAV at the cell site. Here, the UAV may be considered partof the cell site/cell tower and not a flying vehicle that is subject toairspace regulations. Another aspect of the tethered configuration is toprovide power and/or communications to the UAV. Here, the UAV canmaintain extended periods of flight to provide cell site audits,wireless service, visual air traffic surveillance, etc. With theconnection providing power and/or communications, the UAV can flyextended time periods. The connection can be tethered to the cell toweror some associated component, to a stake, weight, fence, buildingstructure, etc.

§1.0 Exemplary Cell Site

Referring to FIG. 1, in an exemplary embodiment, a diagram illustrates aside view of an exemplary cell site 10. The cell site 10 includes a celltower 12. The cell tower 12 can be any type of elevated structure, suchas 100-200 feet/30-60 meters tall. Generally, the cell tower 12 is anelevated structure for holding cell site components 14. The cell tower12 may also include a lighting rod 16 and a warning light 18. Of course,there may various additional components associated with the cell tower12 and the cell site 10 which are omitted for illustration purposes. Inthis exemplary embodiment, there are four sets 20, 22, 24, 26 of cellsite components 14, such as for four different wireless serviceproviders. In this example, the sets 20, 22, 24 include various antennas30 for cellular service. The sets 20, 22, 24 are deployed in sectors,e.g. there can be three sectors for the cell site components—alpha,beta, and gamma. The antennas 30 are used to both transmit a radiosignal to a mobile device and receive the signal from the mobile device.The antennas 30 are usually deployed as a single, groups of two, threeor even four per sector. The higher the frequency of spectrum supportedby the antenna 30, the shorter the antenna 30. For example, the antennas30 may operate around 850 MHz, 1.9 GHz, and the like. The set 26includes a microwave dish 32 which can be used to provide other types ofwireless connectivity, besides cellular service. There may be otherembodiments where the cell tower 12 is omitted and replaced with othertypes of elevated structures such as roofs, water tanks, etc.

§2.0 Cell Site Audits Via UAV

Referring to FIG. 2, in an exemplary embodiment, a diagram illustrates acell site audit 40 performed with an unmanned aerial vehicle (UAV) 50.As described herein, the cell site audit 40 is used by serviceproviders, third party engineering companies, tower operators, etc. tocheck and ensure proper installation, maintenance, and operation of thecell site components 14 and shelter or cabinet 52 equipment as well asthe various interconnections between them. From a physical accessibilityperspective, the cell tower 12 includes a climbing mechanism 54 fortower climbers to access the cell site components 14. FIG. 2 includes aperspective view of the cell site 10 with the sets 20, 26 of the cellsite components 14. The cell site components 14 for the set 20 includethree sectors—alpha sector 54, beta sector 56, and gamma sector 58.

In an exemplary embodiment, the UAV 50 is utilized to perform the cellsite audit 40 in lieu of a tower climber access the cell site components14 via the climbing mechanism 54. In the cell site audit 40, anengineer/technician is local to the cell site 10 to perform varioustasks. The systems and methods described herein eliminate a need for theengineer/technician to climb the cell tower 12. Of note, it is stillimportant for the engineer/technician to be local to the cell site 10 asvarious aspects of the cell site audit 40 cannot be done remotely asdescribed herein. Furthermore, the systems and methods described hereinprovide an ability for a single engineer/technician to perform the cellsite audit 40 without another person handling the UAV 50 or a personwith a pilot's license operating the UAV 50 as described herein.

§2.1 Cell Site Audit

In general, the cell site audit 40 is performed to gather informationand identify a state of the cell site 10. This is used to check theinstallation, maintenance, and/or operation of the cell site 10. Variousaspects of the cell site audit 40 can include, without limitation:

  Verify the cell site 10 is built according to a current revisionVerify Equipment Labeling Verify Coax Cable (“Coax”) Bend Radius VerifyCoax Color Coding/Tagging Check for Coax External Kinks & Dents VerifyCoax Ground Kits Verify Coax Hanger/Support Verify Coax Jumpers VerifyCoax Size Check for Connector Stress & Distortion Check for ConnectorWeatherproofing Verify Correct Duplexers/Diplexers Installed VerifyDuplexer/Diplexer Mounting Verify Duplexers/Diplexers InstalledCorrectly Verify Fiber Paper Verify Lacing & Tie Wraps Check for Looseor Cross-Threaded Coax Connectors Verify Return (“Ret”) Cables VerifyRet Connectors Verify Ret Grounding Verify Ret Installation Verify RetLightning Protection Unit (LPI) Check for Shelter/Cabinet PenetrationsVerify Surge Arrestor Installation/Grounding Verify Site CleanlinessVerify LTE GPS Antenna Installation

Of note, the cell site audit 40 includes gathering information at andinside the shelter or cabinet 52, on the cell tower 12, and at the cellsite components 14. Note, it is not possible to perform all of the aboveitems solely with the UAV 50 or remotely.

§3.0 Piloting the UAV at the Cell Site

It is important to note that the Federal Aviation Administration (FAA)is in the process of regulating commercial UAV (drone) operation. It isexpected that these regulations would not be complete until 2016 or2017. In terms of these regulations, commercial operation of the UAV 50,which would include the cell site audit 40, requires at least twopeople, one acting as a spotter and one with a pilot's license. Theseregulations, in the context of the cell site audit 40, would make use ofthe UAV 50 impractical. To that end, the systems and methods describedherein propose operation of the UAV 50 under FAA exemptions which allowthe cell site audit 40 to occur without requiring two people and withoutrequiring a pilot's license. Here, the UAV 50 is constrained to fly upand down at the cell site 10 and within a three-dimensional (3D)rectangle at the cell site components. These limitations on the flightpath of the UAV 50 make the use of the UAV 50 feasible at the cell site10.

Referring to FIG. 3, in an exemplary embodiment, a screen diagramillustrates a view of a graphical user interface (GUI) 60 on a mobiledevice 100 while piloting the UAV 50. The GUI 60 provides a real-timeview to the engineer/technician piloting the UAV 50. That is, a screen62 provides a view from a camera on the UAV 50. As shown in FIG. 3, thecell site 10 is shown with the cell site components 14 in the view ofthe screen 62. Also, the GUI 60 have various controls 64, 66. Thecontrols 64 are used to pilot the UAV 50 and the controls 66 are used toperform functions in the cell site audit 40 and the like.

§3.1 FAA Regulations

The FAA is overwhelmed with applications from companies interested inflying drones, but the FAA is intent on keeping the skies safe.Currently, approved exemptions for flying drones include tight rules.Once approved, there is some level of certification for drone operatorsalong with specific rules such as, speed limit of 100 mph, heightlimitations such as 400 ft, no-fly zones, day only operation,documentation, and restrictions on aerial filming. Accordingly, flightat or around cell towers is constrained and the systems and methodsdescribed herein fully comply with the relevant restrictions associatedwith drone flights from the FAA.

§4.0 Exemplary Hardware

Referring to FIG. 4, in an exemplary embodiment, a perspective viewillustrates an exemplary UAV 50 for use with the systems and methodsdescribed herein. Again, the UAV 50 may be referred to as a drone or thelike. The UAV 50 may be a commercially available UAV platform that hasbeen modified to carry specific electronic components as describedherein to implement the various systems and methods. The UAV 50 includesrotors 80 attached to a body 82. A lower frame 84 is located on a bottomportion of the body 82, for landing the UAV 50 to rest on a flat surfaceand absorb impact during landing. The UAV 50 also includes a camera 86which is used to take still photographs, video, and the like.Specifically, the camera 86 is used to provide the real-time display onthe screen 62. The UAV 50 includes various electronic components insidethe body 82 and/or the camera 86 such as, without limitation, aprocessor, a data store, memory, a wireless interface, and the like.Also, the UAV 50 can include additional hardware, such as robotic armsor the like that allow the UAV 50 to attach/detach components for thecell site components 14. Specifically, it is expected that the UAV 50will get bigger and more advanced, capable of carrying significantloads, and not just a wireless camera. The present disclosurecontemplates using the UAV 50 for various aspects at the cell site 10,including participating in construction or deconstruction of the celltower 12, the cell site components 14, etc.

These various components are now described with reference to a mobiledevice 100. Those of ordinary skill in the art will recognize the UAV 50can include similar components to the mobile device 100. Of note, theUAV 50 and the mobile device 100 can be used cooperatively to performvarious aspects of the cell site audit 40 described herein. In otherembodiments, the UAV 50 can be operated with a controller instead of themobile device 100. The mobile device 100 may solely be used forreal-time video from the camera 86 such as via a wireless connection(e.g., IEEE 802.11 or variants thereof). Some portions of the cell siteaudit 40 can be performed with the UAV 50, some with the mobile device100, and others solely by the operator though visual inspection. In someembodiments, all of the aspects can be performed in the UAV 50. In otherembodiments, the UAV 50 solely relays data to the mobile device 100which performs all of the aspects. Other embodiments are alsocontemplated.

Referring to FIG. 5, in an exemplary embodiment, a block diagramillustrates a mobile device 100, which may be used for the cell siteaudit 40 or the like. The mobile device 100 can be a digital devicethat, in terms of hardware architecture, generally includes a processor102, input/output (I/O) interfaces 104, wireless interfaces 106, a datastore 108, and memory 110. It should be appreciated by those of ordinaryskill in the art that FIG. 5 depicts the mobile device 100 in anoversimplified manner, and a practical embodiment may include additionalcomponents and suitably configured processing logic to support known orconventional operating features that are not described in detail herein.The components (102, 104, 106, 108, and 102) are communicatively coupledvia a local interface 112. The local interface 112 can be, for examplebut not limited to, one or more buses or other wired or wirelessconnections, as is known in the art. The local interface 112 can haveadditional elements, which are omitted for simplicity, such ascontrollers, buffers (caches), drivers, repeaters, and receivers, amongmany others, to enable communications. Further, the local interface 112may include address, control, and/or data connections to enableappropriate communications among the aforementioned components.

The processor 102 is a hardware device for executing softwareinstructions. The processor 102 can be any custom made or commerciallyavailable processor, a central processing unit (CPU), an auxiliaryprocessor among several processors associated with the mobile device100, a semiconductor-based microprocessor (in the form of a microchip orchip set), or generally any device for executing software instructions.When the mobile device 100 is in operation, the processor 102 isconfigured to execute software stored within the memory 110, tocommunicate data to and from the memory 110, and to generally controloperations of the mobile device 100 pursuant to the softwareinstructions. In an exemplary embodiment, the processor 102 may includea mobile optimized processor such as optimized for power consumption andmobile applications. The I/O interfaces 104 can be used to receive userinput from and/or for providing system output. User input can beprovided via, for example, a keypad, a touch screen, a scroll ball, ascroll bar, buttons, bar code scanner, and the like. System output canbe provided via a display device such as a liquid crystal display (LCD),touch screen, and the like. The I/O interfaces 104 can also include, forexample, a serial port, a parallel port, a small computer systeminterface (SCSI), an infrared (IR) interface, a radio frequency (RF)interface, a universal serial bus (USB) interface, and the like. The I/Ointerfaces 104 can include a graphical user interface (GUI) that enablesa user to interact with the mobile device 100. Additionally, the I/Ointerfaces 104 may further include an imaging device, i.e. camera, videocamera, etc.

The wireless interfaces 106 enable wireless communication to an externalaccess device or network. Any number of suitable wireless datacommunication protocols, techniques, or methodologies can be supportedby the wireless interfaces 106, including, without limitation: RF; IrDA(infrared); Bluetooth; ZigBee (and other variants of the IEEE 802.15protocol); IEEE 802.11 (any variation); IEEE 802.16 (WiMAX or any othervariation); Direct Sequence Spread Spectrum; Frequency Hopping SpreadSpectrum; Long Term Evolution (LTE); cellular/wireless/cordlesstelecommunication protocols (e.g. 3G/4G, etc.); wireless home networkcommunication protocols; paging network protocols; magnetic induction;satellite data communication protocols; wireless hospital or health carefacility network protocols such as those operating in the WMTS bands;GPRS; proprietary wireless data communication protocols such as variantsof Wireless USB; and any other protocols for wireless communication. Thewireless interfaces 106 can be used to communicate with the UAV 50 forcommand and control as well as to relay data therebetween. The datastore 108 may be used to store data. The data store 108 may include anyof volatile memory elements (e.g., random access memory (RAM, such asDRAM, SRAM, SDRAM, and the like)), nonvolatile memory elements (e.g.,ROM, hard drive, tape, CDROM, and the like), and combinations thereof.Moreover, the data store 108 may incorporate electronic, magnetic,optical, and/or other types of storage media.

The memory 110 may include any of volatile memory elements (e.g., randomaccess memory (RAM, such as DRAM, SRAM, SDRAM, etc.)), nonvolatilememory elements (e.g., ROM, hard drive, etc.), and combinations thereof.Moreover, the memory 110 may incorporate electronic, magnetic, optical,and/or other types of storage media. Note that the memory 110 may have adistributed architecture, where various components are situated remotelyfrom one another, but can be accessed by the processor 102. The softwarein memory 110 can include one or more software programs, each of whichincludes an ordered listing of executable instructions for implementinglogical functions. In the example of FIG. 5, the software in the memory110 includes a suitable operating system (O/S) 114 and programs 116. Theoperating system 114 essentially controls the execution of othercomputer programs, and provides scheduling, input-output control, fileand data management, memory management, and communication control andrelated services. The programs 116 may include various applications,add-ons, etc. configured to provide end user functionality with themobile device 100, including performing various aspects of the systemsand methods described herein.

It will be appreciated that some exemplary embodiments described hereinmay include one or more generic or specialized processors (“one or moreprocessors”) such as microprocessors, digital signal processors,customized processors, and field programmable gate arrays (FPGAs) andunique stored program instructions (including both software andfirmware) that control the one or more processors to implement, inconjunction with certain non-processor circuits, some, most, or all ofthe functions of the methods and/or systems described herein.Alternatively, some or all functions may be implemented by a statemachine that has no stored program instructions, or in one or moreapplication specific integrated circuits (ASICs), in which each functionor some combinations of certain of the functions are implemented ascustom logic. Of course, a combination of the aforementioned approachesmay be used. Moreover, some exemplary embodiments may be implemented asa non-transitory computer-readable storage medium having computerreadable code stored thereon for programming a computer, server,appliance, device, etc. each of which may include a processor to performmethods as described and claimed herein. Examples of suchcomputer-readable storage mediums include, but are not limited to, ahard disk, an optical storage device, a magnetic storage device, a ROM(Read Only Memory), a PROM (Programmable Read Only Memory), an EPROM(Erasable Programmable Read Only Memory), an EEPROM (ElectricallyErasable Programmable Read Only Memory), Flash memory, and the like.When stored in the non-transitory computer readable medium, software caninclude instructions executable by a processor that, in response to suchexecution, cause a processor or any other circuitry to perform a set ofoperations, steps, methods, processes, algorithms, etc.

§4.1 RF Sensors in the UAV

In an exemplary embodiment, the UAV 50 can also include one or more RFsensors disposed therein. The RF sensors can be any device capable ofmaking wireless measurements related to signals associated with the cellsite components 14, i.e., the antennas. In an exemplary embodiment, theUAV 50 can be further configured to fly around a cell zone associatedwith the cell site 10 to identify wireless coverage through variousmeasurements associated with the RF sensors.

§5.0 Cell Site Audit with UAV and/or Mobile Device

Referring to FIG. 6, in an exemplary embodiment, a flow chartillustrates a cell site audit method 200 utilizing the UAV 50 and themobile device 100. Again, in various exemplary embodiments, the cellsite audit 40 can be performed with the UAV 50 and the mobile device100. In other exemplary embodiments, the cell site audit 40 can beperformed with the UAV 50 and an associated controller. In otherembodiments, the mobile device 100 is solely used to relay real-timevideo from the camera 86. While the steps of the cell site audit method200 are listed sequentially, those of ordinary skill in the art willrecognize some or all of the steps may be performed in a differentorder. The cell site audit method 200 includes an engineer/technician ata cell site with the UAV 50 and the mobile device 100 (step 202). Again,one aspect of the systems and methods described herein is usage of theUAV 50, in a commercial setting, but with constraints such that only oneoperator is required and such that the operator does not have to hold apilot's license. As described herein, the constraints can include flightof the UAV 50 at or near the cell site 10 only, a flight pattern up anddown in a 3D rectangle at the cell tower 12, a maximum heightrestriction (e.g., 500 feet or the like), and the like. For example, thecell site audit 40 is performed by one of i) a single operator flyingthe UAV 50 without a license or ii) two operators including one with alicense and one to spot the UAV 50.

The engineer/technician performs one or more aspects of the cell siteaudit 40 without the UAV 50 (step 204). Note, there are many aspects ofthe cell site audit 40 as described herein. It is not possible for theUAV 50 to perform all of these items such that the engineer/techniciancould be remote from the cell site 10. For example, access to theshelter or cabinet 52 for audit purposes requires theengineer/technician to be local. In this step, the engineer/techniciancan perform any audit functions as described herein that do not requireclimbing.

The engineer/technician can cause the UAV 50 to fly up the cell tower 12or the like to view cell site components 14 (step 206). Again, thisflight can be based on the constraints, and the flight can be through acontroller and/or the mobile device 100. The UAV 50 and/or the mobiledevice 100 can collect data associated with the cell site components 14(step 208), and process the collected data to obtain information for thecell site audit 40 (step 210). As described herein, the UAV 50 and themobile device 100 can be configured to collect data via video and/orphotographs. The engineer/technician can use this collected data toperform various aspects of the cell site audit 40 with the UAV 50 andthe mobile device 100 and without a tower climb.

The foregoing descriptions detail specific aspects of the cell siteaudit 40 using the UAV 50 and the mobile device 100. In these aspects,data can be collected—generally, the data is video or photographs of thecell site components 14. The processing of the data can be automatedthrough the UAV 50 and/or the mobile device 100 to compute certain itemsas described herein. Also, the processing of the data can be performedeither at the cell site 10 or afterwards by the engineer/technician.

In an exemplary embodiment, the UAV 50 can be a commercial,“off-the-shelf” drone with a Wi-Fi enabled camera for the camera 86.Here, the UAV 50 is flown with a controller pad which can include ajoystick or the like. Alternatively, the UAV 50 can be flown with themobile device 100, such as with an app installed on the mobile device100 configured to control the UAV 50. The Wi-Fi enable camera isconfigured to communicate with the mobile device 100—to both displayreal-time video and audio as well as to capture photos and/or videoduring the cell site audit 40 for immediate processing or for laterprocessing to gather relevant information about the cell site components14 for the cell site audit 40.

In another exemplary embodiment, the UAV 50 can be a so-called “drone ina box” which is preprogrammed/configured to fly a certain route, such asbased on the flight constraints described herein. The “drone in a box”can be physically transported to the cell site 10 or actually locatedthere. The “drone in a box” can be remotely controlled as well.

§5.1 Antenna Down Tilt Angle

In an exemplary aspect of the cell site audit 40, the UAV 50 and/or themobile device 100 can be used to determine a down tilt angle ofindividual antennas 30 of the cell site components 14. The down tiltangle can be determined for all of the antennas 30 in all of the sectors54, 56, 58. The down tilt angle is the mechanical (external) down tiltof the antennas 30 relative to a support bar 200. In the cell site audit40, the down tilt angle is compared against an expected value, such asfrom a Radio Frequency (RF) data sheet, and the comparison may check toensure the mechanical (external) down tilt is within ±1.0° ofspecification on the RF data sheet.

Using the UAV 50 and/or the mobile device 100, the down tilt angle isdetermined from a photo taken from the camera 86. In an exemplaryembodiment, the UAV 50 and/or the mobile device 100 is configured tomeasure three points—two defined by the antenna 30 and one by thesupport bar 200 to determine the down tilt angle of the antenna 30. Forexample, the down tilt angle can be determined visually from the side ofthe antenna 30—measuring a triangle formed by a top of the antenna 30, abottom of the antenna 30, and the support bar 200.

§5.2 Antenna Plumb

In an exemplary aspect of the cell site audit 40 and similar todetermining the down tilt angle, the UAV 50 and/or the mobile device 100can be used to visually inspect the antenna 30 including its mountingbrackets and associated hardware. This can be done to verify appropriatehardware installation, to verify the hardware is not loose or missing,and to verify that antenna 30 is plumb relative to the support bar 200.

§5.3 Antenna Azimuth

In an exemplary aspect of the cell site audit 40, the UAV 50 and/or themobile device 100 can be used to verify the antenna azimuth, such asverifying the antenna azimuth is oriented within ±5° as defined on theRF data sheet. The azimuth (AZ) angle is the compass bearing, relativeto true (geographic) north, of a point on the horizon directly beneathan observed object. Here, the UAV 50 and/or the mobile device 100 caninclude a location determining device such as a Global PositioningSatellite (GPS) measurement device. The antenna azimuth can bedetermined with the UAV 50 and/or the mobile device 100 using an aerialphoto or the GPS measurement device.

§5.4 Photo Collections

As part of the cell site audit 40 generally, the UAV 50 and/or themobile device 100 can be used to document various aspects of the cellsite 10 by taking photos or video. For example, the mobile device 100can be used to take photos or video on the ground in or around theshelter or cabinet 52 and the UAV 500 can be used to take photos orvideo up the cell tower 12 and of the cell site components 14. Thephotos and video can be stored in any of the UAV 50, the mobile device100, the cloud, etc.

In an exemplary embodiment, the UAV can also hover at the cell site 10and provide real-time video footage back to the mobile device 100 oranother location (for example, a Network Operations Center (NOC) or thelike).

§5.5 Compound Length/Width

The UAV 50 can be used to fly over the cell site 10 to measure theoverall length and width of the cell site 10 compound from overheadphotos. In one aspect, the UAV 50 can use GPS positioning to detect thelength and width by flying over the cell site 10. In another aspect, theUAV 50 can take overhead photos which can be processed to determine theassociated length and width of the cell site 10.

§5.6 Data Capture—Cell Site Audit

The UAV 50 can be used to capture various pieces of data via the camera86. That is, with the UAV 50 and the mobile device 100, the camera 86 isequivalent to the engineer/technician's own eyes, thereby eliminatingthe need for the engineer/technician to physically climb the tower. Oneimportant aspect of the cell site audit 40 is physically collectingvarious pieces of information—either to check records for consistency orto establish a record. For example, the data capture can includedetermining equipment module types, locations, connectivity, serialnumbers, etc. from photos. The data capture can include determiningphysical dimensions from photos or from GPS such as the cell tower 12height, width, depth, etc. The data capture can also include visualinspection of any aspect of the cell site 10, cell tower 12, cell sitecomponents 14, etc. including, but not limited to, physicalcharacteristics, mechanical connectivity, cable connectivity, and thelike.

The data capture can also include checking the lighting rod 16 and thewarning light 18 on the cell tower 12. Also, with additional equipmenton the UAV 50, the UAV 50 can be configured to perform maintenance suchas replacing the warning light 18, etc. The data capture can alsoinclude checking maintenance status of the cell site components 14visually as well as checking associated connection status. Anotheraspect of the cell site audit 40 can include checking structuralintegrity of the cell tower 12 and the cell site components 14 viaphotos from the UAV 50.

§5.7 Flying the UAV at the Cell Site

In an exemplary embodiment, the UAV 50 can be programmed toautomatically fly to a location and remain there without requiring theoperator to control the UAV 50 in real-time, at the cell site 10. Inthis scenario, the UAV 50 can be stationary at a location in the air atthe cell site 10. Here, various functionality can be incorporated in theUAV 50 as described herein. Note, this aspect leverages the ability tofly the UAV 50 commercially based on the constraints described herein.That is, the UAV 50 can be used to fly around the cell tower 12, togather data associated with the cell site components 14 for the varioussectors 54, 56, 58. Also, the UAV 50 can be used to hover around thecell tower 12, to provide additional functionality described as follows.

§5.8 Video/Photo Capture—Cell Site

With the UAV 50 available to operate at the cell site 10, the UAV 50 canalso be used to capture video/photos while hovering. This applicationuses the UAV 50 as a mobile video camera to capture activity at oraround the cell site 10 from the air. It can be used to document work atthe cell site 10 or to investigate the cell site 10 responsive toproblems, e.g. tower collapse. It can be used to take surveillance videoof surrounding locations such as service roads leading to the cell site10, etc.

§5.9 Wireless Service Via the UAV

Again, with the ability to fly at the cell site 10, subject to theconstraints, the UAV 50 can be used to provide temporary or evenpermanent wireless service at the cell site. This is performed with theaddition of wireless service-related components to the UAV 50. In thetemporary mode, the UAV 50 can be used to provide service over a shorttime period, such as responding to an outage or other disaster affectingthe cell site 10. Here, an operator can cause the UAV 50 to fly wherethe cell site components 14 are and provide such service. The UAV 50 canbe equipped with wireless antennas to provide cell service, WirelessLocal Area Network (WLAN) service, or the like. The UAV 50 caneffectively operate as a temporary tower or small cell as needed.

In the permanent mode, the UAV 50 (along with other UAVs 50) canconstantly be in the air at the cell site 10 providing wireless service.This can be done similar to the temporary mode, but over a longer timeperiod. The UAV 50 can be replaced over a predetermined time to refuelor the like. The replacement can be another UAV 50. The UAV 50 caneffectively operate as a permanent tower or small cell as needed.

§6.0 Flying the UAV from Cell Site to Another Cell Site

As described herein, the flight constraints include operating the UAV 50vertically in a defined 3D rectangle at the cell site 10. In anotherexemplary embodiment, the flight constraints can be expanded to allowthe 3D rectangle at the cell site 10 as well as horizontal operationbetween adjacent cell sites 10. Referring to FIG. 7, in an exemplaryembodiment, a network diagram illustrates various cell sites 10 a-10 edeployed in a geographic region 300. In an exemplary embodiment, the UAV50 is configured to operate as described herein, such as in FIG. 2, inthe vertical 3D rectangular flight pattern, as well as in a horizontalflight pattern between adjacent cell sites 10. Here, the UAV 50 iscleared to fly, without the commercial regulations, between the adjacentcell sites 10.

In this manner, the UAV 50 can be used to perform the cell site audits40 at multiple locations—note, the UAV 50 does not need to land andphysically be transported to the adjacent cell sites 10. Additionally,the fact that the FAA will allow exemptions to fly the UAV 50 at thecell site 10 and between adjacent cell sites 10 can create aninterconnected mesh network of allowable flight paths for the UAV 50.Here, the UAV 50 can be used for other purposes besides those related tothe cell site 10. That is, the UAV 50 can be flown in any application,independent of the cell sites 10, but without requiring FAA regulation.The applications can include, without limitation, a drone deliverynetwork, a drone surveillance network, and the like.

As shown in FIG. 7, the UAV 50, at the cell site 10 a, can be flown toany of the other cell sites 10 b-10 e along flight paths 302. Due to thefact that cell sites 10 are numerous and diversely deployed in thegeographic region 300, an ability to fly the UAV 50 at the cell sites 10and between adjacent cell sites 10 creates an opportunity to fly the UAV50 across the geographic region 300, for numerous applications.

§7.0 UAV and Cell Towers

Additionally, the systems and methods describe herein contemplatepractically any activity at the cell site 10 using the UAV 50 in lieu ofa tower climb. This can include, without limitation, any tower auditwork with the UAV 50, any tower warranty work with the UAV 50, any toweroperational ready work with the UAV 50, any tower construction with theUAV 50, any tower decommissioning/deconstruction with the UAV 50, anytower modifications with the UAV 50, and the like.

§8.0 Tethered UAV Systems and Methods

Referring to FIGS. 8 and 9, in an exemplary embodiment, diagramsillustrate a cell site 10 for illustrating the UAV 50 and associatedtethered UAV systems and methods. Specifically, FIGS. 8 and 9 is similarto FIG. 2, but here, the UAV 50 is tethered at or near the cell site 10via a connection 400. The connection 400 can include a cable, a rope, apower cable, a communications cable, a fiber optic cable, etc., i.e.,any connection with strength to constrain the UAV 50 to the cell site10. In an exemplary embodiment in FIG. 8, the connection 400 is tetheredto the top of the cell tower 12, such as at the cell site components 14or at one of the alpha sector 54, beta sector 56, and gamma sector 58.In another exemplary embodiment in FIG. 8, the connection 400 istethered to the cell tower 12 itself, such as at any point between thebase and the top of the cell tower 12. In a further exemplary embodimentin FIG. 8, the connection 400 is tethered to the bottom of the cell site10, such as at the shelter or cabinet 52 or a base of the cell tower 12.Specifically, in FIG. 8, the tethered configuration includes theconnection 400 coupled to some part of the cell tower 12 or the like.

In FIG. 9, the tethered configuration includes the connection 400coupled to something that is not part of the cell tower 12, such as aconnection point 401, i.e., in FIG. 9, the UAV 50 is tethered at or nearthe cell site 10 and, in FIG. 8, the UAV 50 is tethered at the celltower 12. In various exemplary embodiments, the connection point 401 caninclude, without limitation, a stake, a pole, a weight, a fence, acommunications device, a wireless radio, a building or other structure,or any other device or object at or near the cell site 12. As describedherein, the UAV 50 is in a tethered configuration where the UAV 50 iscoupled at or near the cell site 10 via the connection 400.

In an exemplary embodiment, the UAV 50 can be housed or located at ornear the cell site 10, connected via the connection 400, and stored inhousings 402, 404, for example. The housings 402, 404 are shown forillustration purposes, and different locations are also contemplated.The housing 402 is on the cell tower 12, and the housing 404 is at orpart of the shelter or cabinet 52. In operation, the UAV 50 isconfigured to selectively enter/exit the housing 402, 404. Theconnection 400 can be tethered to or near the housing 402, 404. Thehousing 402, 404 can include a door that selectively opens/closes.Alternatively, the housing 402, 404 includes an opening where the UAV 50enters and exits. The housing 402, 404 can be used to store the UAV 50while not in operation.

One unique aspect of the tethered configuration described herein, i.e.,the UAV 50 with the connection 400, is that the UAV 50 can now be viewedas an attached device to the cell site 10, and not a free-flying drone.Advantageously, such a configuration can avoid airspace regulations orrestrictions. Furthermore, with the connection 400 providing powerand/or data connectivity, the UAV 50 contemplates extended periods oftime for operation.

As costs decrease, it is feasible to deploy the UAV 50 with theconnections 400 and optionally the housing 402, 404 at all cell sites10. The UAV 50 with the connection 400 contemplates implementing all ofthe same functionality described herein with respect to FIGS. 1-6.Specifically, the UAV 50 with the connection 400 can be used to performthe cell site audit 40 and the like as well as other features. Also, theUAV 50 with the connection 400 is ideal to act as a wireless accesspoint for wireless service. Here, the connection 400 can provide dataand/or power, and be used for 1) additional capacity as needed or 2) aprotection antenna to support active components in the cell sitecomponents 14 that fail. The UAV 50 with the connection 400 can be usedto support overflow capacity as well as needed, providing LTE, WLAN,WiMAX, or any other wireless connectivity. Alternatively, the UAV 50 canbe used as an alternative service provider to provide wireless access atthe cell site 10 without requiring antennas on the cell tower 12.

Referring to FIG. 8, in an exemplary embodiment, a flowchart illustratesa method 500 with a tethered Unmanned Aerial Vehicle (UAV) associatedwith a cell site. The method 500 includes causing the UAV to fly at ornear the cell site while the UAV is tethered at or near the cell sitevia a connection, wherein flight of the UAV at or near the cell site isconstrained based on the connection (step 502); and performing one ormore functions via the UAV at or near the cell site while the UAV isflying tethered at or near the cell site (step 504).

The method 500 can further include transferring power and/or data to andfrom the UAV via the connection (step 506). The connection can includeone or more of a cable, a rope, a power cable, a communications cable,and a fiber optic cable. The one or more functions can include functionsrelated to a cell site audit. The one or more functions can includefunctions related to providing wireless service via the UAV at the cellsite, wherein data and/or power is transferred between the UAV and thecell site to perform the wireless service. The one or more functions caninclude providing visual air traffic control via one or more cameras onthe UAV. The method 500 can further include storing the UAV at the cellsite in a housing while the UAV is not in use. The UAV can be configuredto fly extended periods at the cell site utilizing power from theconnection, where the extended periods are longer than if the UAV didnot have power from the connection. The connection can be configured toconstrain a flight path of the UAV at the cell site.

In another exemplary embodiment, a tethered Unmanned Aerial Vehicle(UAV) associated with a cell site includes one or more rotors disposedto a body, wherein the body is tethered to the cell site via aconnection; a camera associated with the body; wireless interfaces; aprocessor coupled to the wireless interfaces and the camera; and memorystoring instructions that, when executed, cause the processor to:process commands to cause the one or more rotors to fly the UAV at thecell site while the UAV is tethered to the cell site via the connection,wherein flight of the UAV at the cell site is constrained based on theconnection; and perform one or more functions via the UAV at the cellsite while the UAV is flying tethered to the cell site, utilizing one ormore of the camera and the wireless interfaces.

§8.1 Tethered UAV Systems and Methods—Visual Air Traffic Control

In an exemplary embodiment, the tethered UAV 50 can be configured toprovide visual air traffic control such as for other UAVs or drones.Here, various tethered UAVs 50 can be deployed across a geographicregion at various cell sites 10 and each UAV 50 can have one or morecameras that can provide a 360 degree view around the cell site 10. Thisconfiguration essentially creates a drone air traffic control systemthat could be monitored and controlled by Network Control Center (NOC).Specifically, the UAV 50 can be communicatively coupled to the NOC, suchas via the connection 400. The NOC can provide the video feeds of otherdrones to third parties (e.g., Amazon) and other drone users to complywith current FAA regulations that require eyes on drones at all times.

§9.0 UAV Systems and Methods Using Robotic Arms or the Like

Referring to FIGS. 11 and 12, in an exemplary embodiment, diagramsillustrate a cell site 10 for illustrating the UAV 50 and associated UAVsystems and methods with robotic arms for performing operationsassociated with the cell site components 14. Specifically, FIGS. 11 and12 is similar to FIG. 2 (and FIGS. 8 and 9), but here, the UAV 50 isequipped with one or more robotic arms 600 for carrying payload 602and/or performing operations associated with the cell site components 14on the cell tower 12. Since the robotic arms 600 and the payload 602 addweight and complexity when maneuvering, the systems and methods includea connection 604 between the UAV 50 and the cell tower 12 whichphysically supports the UAV 50 at the cell site components 14. In thismanner, there are no counterbalance requirements for the UAV 50 for therobotic arms 600 and the payload 602. In another exemplary embodiment,the connection 604 can also provide power to the UAV 50 in addition tophysically supporting the UAV 50. That is, the connection 604 is adaptedto provide power to the UAV 50 when connected thereto. Specifically, therobotic arms 600 could require a large amount of power, which can comefrom a power source connected through the connection 604 to the UAV. Inan exemplary embodiment, the UAV 50, once physically connected to theconnection 604, can shut off the flight and local power components andoperate the robotic arms 600 via power from the connection 604.

In another exemplary embodiment, the UAV 50 with the robotic arms 600can utilize the tethered configuration where the UAV 50 is coupled at ornear the cell site 10 via the connection 400. Here, the UAV 50 can useboth the connection 400 for a tether and the connection 604 for physicalsupport/stability when at the cell tower 12 where operations are needed.Here, the connection 400 can be configured to provide power to the UAV50 as well. The UAV 50 can also fly up the connection 400 from theground that supplies power and any other functions such as a video feedup or down. The tethered UAV 500 attaches itself to the cell tower 12via the connection 604, shuts off rotors, engages the robotic arms 600and then does work, but in this case the power for those robotic arms600 as well as the rotors comes from a power feed in the connection 400that is going down to the ground. The UAV 50 also may or may not have abattery and it may or may not be used.

The UAV 50 with the robotic arms 600 is configured to fly up the celltower 12, with or without the payload 602. For example, with the payload602, the UAV 50 can be used to bring components to the cell sitecomponents 14, flying up the cell tower 12. Without the payload 602, theUAV 50 is flown to the top with the robotic arms 600 for performingoperations on the cell tower 12 and the cell site components 14. In bothcases, the UAV 50 is configured to fly up the cell tower 12, includingusing all of the constraints described herein. During flight, the UAV 50with the robotic arms 600 and with or without the payload 602 does nothave a counterbalance issue because the robotic arms 600 and the payload602 are fixed, i.e., stationary. That is, the UAV 50 flies withoutmovement of the robotic arms 600 or the payload 603 during the flight.

Once the UAV 50 reaches a desired location on the cell tower 12, the UAV50 is configured to physically connect via the connection 604 to thecell tower 12, the cell site components 14, or the like. Specifically,via the connection 604, the UAV 50 is configured to be physicallysupported without the rotors 80 or the like operating. That is, via theconnection 604, the UAV 50 is physically supporting without flying,thereby eliminating the counterbalancing problems. Once the connection604 is established and the UAV 50 flight components are disengaged, therobotic arms 600 and the payload 602 can be moved, manipulated, etc.without having balancing problems that have to be compensated by theflight components. This is because the connection 604 bears the weightof the UAV 50, allowing any movement by the robotic arms 600 and/or thepayload 602.

In an exemplary embodiment, the connection 604 includes a grappling armthat extends from the UAV 50 and physically attaches to the cell tower12, such as a grappling hook or the like. In another exemplaryembodiment, the connection 604 includes an arm located on the cell tower12 that physically connects to a connection point in the UAV 50. Ofcourse, the systems and methods contemplate various connectiontechniques for the connection 604. The connection 604 has to be strongenough to support the weight of the UAV 50, the robotic arms 600, andthe payload 602.

In an exemplary embodiment, the UAV 50 can carry the payload 602 up thecell tower 12. The payload 602 can include wireless components, cables,nuts/bolts, antennas, supports, braces, lighting rods, lighting,electronics, RF equipment, combinations thereof, and the like. That is,the payload 602 can be anything associated with the cell site components14. With the robotic arms 600, the UAV 500 can be used to performoperations associated with the payload 602. The operations can include,without limitation, installing cables, installing nuts/bolts tostructures or components, installing antennas, installing supports orbraces, installing lighting rods, installing electronic or RF equipment,etc.

In another exemplary embodiment, the UAV 50 does not include the payload602 and instead uses the robotic arms 600 to perform operations onexisting cell site components 14. Here, the UAV 50 is flown up the cellsite 12 and connected to the connection 604. Once connected and theflight components disengaged, the UAV 50 can include manipulation of therobotic arms 600 to perform operations on the cell site components 14.The operations can include, without limitation, manipulating cables,removing/tightening nuts/bolts to structures or components, adjustingantennas, adjusting lighting rods, replacing bulbs in lighting,opening/closing electronic or RF equipment, etc.

Referring to FIG. 13, in an exemplary embodiment, a flowchartillustrates a method 700 with a UAV with robotic arms at a cell site.The method 700 contemplates operation with the UAV 50 with the roboticarms 600 and optionally with the payload 602. The method 700 includescausing the UAV to fly at or near the cell site, wherein the UAVincludes one or more manipulable arms which are stationary during flight(step 702); physically connecting the UAV to a structure at the cellsite and disengaging flight components associated with the UAV (step704); and performing one or more functions via the one or moremanipulable arms while the UAV is physically connected to the structure,wherein the one or more manipulable arms move while the UAV isphysically connected to the structure (step 706). The method 700 canfurther include utilizing the one or more manipulable arms to providepayload to a cell tower at the cell site, wherein the payload isstationary in the one or more manipulable arms during flight (step 708).The payload can include any of wireless components, cables, nuts/bolts,antennas, supports, braces, lighting rods, lighting, electronics, andcombinations thereof. The method 700 can further include utilizing theone or more manipulable arms to perform operations on a cell tower atthe cell site (step 710). The operations can include any of installingwireless components, installing cables, installing nuts/bolts,installing antennas, installing supports, installing braces, installinglighting rods, installing lighting, installing electronics, andcombinations thereof. The physically connecting can include extending agrappling arm from the UAV to attach to the structure. The physicallyconnecting can include connecting the UAV to an arm extending from thestructure which is connectable to the UAV. The physically connecting canbe via a connection which bears weight of the UAV, enabling movement ofthe one or more manipulable arms without requiring counterbalancing ofthe UAV due to the movement while the UAV is in flight.

§10.0 Cell Site Operations

There are generally two entities associated with cell sites—cell siteowners and cell site operators. Generally, cell site owners can beviewed as real estate property owners and managers. Typical cell siteowners may have a vast number of cell sites, such as tens of thousands,geographically dispersed. The cell site owners are generally responsiblefor the real estate, ingress and egress, structures on site, the celltower itself, etc. Cell site operators generally include wirelessservice providers who generally lease space on the cell tower and in thestructures for antennas and associated wireless backhaul equipment.There are other entities that may be associated with cell sites as wellincluding engineering firms, installation contractors, and the like. Allof these entities have a need for the various UAV-based systems andmethods described herein. Specifically, cell site owners can use thesystems and methods for real estate management functions, auditfunctions, etc. Cell site operators can use the systems and methods forequipment audits, troubleshooting, site engineering, etc. Of course, thesystems and methods described herein can be provided by an engineeringfirm or the like contracted to any of the above entities or the like.The systems and methods described herein provide these entities timesavings, increased safety, better accuracy, lower cost, and the like.

§11.0 3D Modeling Systems and Methods with UAVs

Referring to FIG. 14, in an exemplary embodiment, a diagram illustratesthe cell site 10 and an associated launch configuration and flight forthe UAV 50 to obtain photos for a 3D model of the cell site 10. Again,the cell site 10, the cell tower 12, the cell site components 14, etc.are as described herein. To develop a 3D model, the UAV 50 is configuredto take various photos during flight, at different angles, orientations,heights, etc. to develop a 360 degree view. For post processing, it isimportant to accurately differentiate between different photos. Invarious exemplary embodiments, the systems and methods utilize accuratelocation tracking for each photo taken. It is important for accuratecorrelation between photos to enable construction of a 3D model from aplurality of 2D photos. The photos can all include multiple locationidentifiers (i.e., where the photo was taken from, height and exactlocation). In an exemplary embodiment, the photos can each include atleast two distinct location identifiers, such as from GPS or GLONASS.GLONASS is a “GLObal NAvigation Satellite System” which is a space-basedsatellite navigation system operating in the radio navigation-satelliteservice and used by the Russian Aerospace Defence Forces. It provides analternative to GPS and is the second alternative navigational system inoperation with global coverage and of comparable precision. The locationidentifiers are tagged or embedded to each photo and indicative of thelocation of the UAV 50 where and when the photo was taken. Theselocation identifiers are used with objects of interest identified in thephoto during post processing to create the 3D model.

In fact, it was determined that location identifier accuracy is veryimportant in the post processing for creating the 3D model. One suchdetermination was that there are slight inaccuracies in the locationidentifiers when the UAV 50 is launched from a different location and/ororientation. Thus, to provide further accuracy for the locationidentifiers, each flight of the UAV 50 is constrained to land and departfrom a same location and orientation. For example, future flights of thesame cell site 10 or additional flights at the same time when the UAV 50lands and, e.g., has a battery change. To ensure the same locationand/or orientation in subsequent flights at the cell site 10, a zoneindicator 800 is set at the cell site 10, such as on the ground via somemarking (e.g., chalk, rope, white powder, etc.). Each flight at the cellsite 10 for purposes of obtaining photos for 3D modeling is done usingthe zone indicator 800 to land and launch the UAV 50. Based onoperations, it was determined that using conventional UAVs 50, the zoneindicator 800 provides significant more accuracy in location identifierreadings. Accordingly, the photos are accurately identified relative toone another and able to create an extremely accurate 3D model of allphysical features of the cell site 10. Thus, in an exemplary embodiment,all UAV 50 flights are from a same launch point and orientation to avoidcalibration issues with any location identifier technique. The zoneindicator 800 can also be marked on the 3D model for future flights atthe cell site 10. Thus, the use of the zone indicator 800 for the samelaunch location and orientation along with the multiple locationindicators provide more precision in the coordinates for the UAV 50 tocorrelate the photos.

Note, in other exemplary embodiments, the zone indicator 800 may beomitted or the UAV 50 can launch from additional points, such that thedata used for the 3D model is only based on a single flight. The zoneindicator 800 is advantageous when data is collected over time or whenthere are landings in a flight.

Once the zone indicator 800 is established, the UAV 50 is placed thereinin a specific orientation (orientation is arbitrary so long as the sameorientation is continually maintained). The orientation refers to whichway the UAV 50 is facing at launch and landing. Once the UAV 50 is inthe zone indicator 800, the UAV 50 can be flown up (denoted by line 802)the cell tower 12. Note, the UAV 50 can use the aforementioned flightconstraints to conform to FAA regulations or exemptions. Once at acertain height and certain distance from the cell tower 12 and the cellsite components 14, the UAV 50 can take a circular or 360 degree flightpattern about the cell tower 12, including flying up as well as aroundthe cell tower 12 (denoted by line 804).

During the flight, the UAV 50 is configured to take various photos ofdifferent aspects of the cell site 10 including the cell tower 12, thecell site components 14, as well as surrounding area. These photos areeach tagged or embedded with multiple location identifiers. It has alsobeen determined that the UAV 50 should be flown at a certain distancebased on its camera capabilities to obtain the optimal photos, i.e., nottoo close or too far from objects of interest. The UAV 50 in a givenflight can take hundreds or even thousands of photos, each with theappropriate location identifiers. For an accurate 3D model, at leasthundreds of photos are required. The UAV 50 can be configured toautomatically take pictures are given intervals during the flight andthe flight can be a preprogrammed trajectory around the cell site 10.Alternatively, the photos can be manually taken based on operatorcommands. Of course, a combination is also contemplated. In anotherexemplary embodiment, the UAV 50 can include preprocessing capabilitieswhich monitor photos taken to determine a threshold after which enoughphotos have been taken to accurately construct the 3D model.

Referring to FIG. 15, in an exemplary embodiment, a satellite viewillustrates an exemplary flight of the UAV 50 at the cell site 10. Note,photos are taken at locations marked with circles in the satellite view.Note, the flight of the UAV 50 can be solely to construct the 3D modelor as part of the cell site audit 40 described herein. Also note, theexemplary flight allows photos at different locations, angles,orientations, etc. such that the 3D model not only includes the celltower 12, but also the surrounding geography.

Referring to FIG. 16, in an exemplary embodiment, a side viewillustrates an exemplary flight of the UAV 50 at the cell site 10.Similar to FIG. 15, FIG. 16 shows circles in the side view at locationswhere photos were taken. Note, photos are taken at different elevations,orientations, angles, and locations.

The photos are stored locally in the UAV 50 and/or transmittedwirelessly to a mobile device, controller, server, etc. Once the flightis complete and the photos are provided to an external device from theUAV 50 (e.g., mobile device, controller, server, cloud service, or thelike), post processing occurs to combine the photos or “stitch” themtogether to construct the 3D model. While described separately, the postprocessing could occur in the UAV 50 provided its computing power iscapable.

Referring to FIG. 17, in an exemplary embodiment, a logical diagramillustrates a portion of a cell tower 12 along with associated photostaken by the UAV 50 at different points relative thereto. Specifically,various 2D photos are logically shown at different locations relative tothe cell tower 12 to illustrate the location identifiers and thestitching together of the photos.

Referring to FIG. 18, in an exemplary embodiment, a screen shotillustrates a Graphic User Interface (GUI) associated with postprocessing photos from the UAV 50. Again, once the UAV 50 has completedtaking photos of the cell site 10, the photos are post processed to forma 3D model. The systems and methods contemplate any software programcapable of performing photogrammetry. In the example of FIG. 18, thereare 128 total photos. The post processing includes identifying visiblepoints across the multiple points, i.e., objects of interest. Forexample, the objects of interest can be any of the cell site components14, such as antennas. The post processing identifies the same object ofinterest across different photos, with their corresponding locationidentifiers, and builds a 3D model based on multiple 2D photos.

Referring to FIG. 19, in an exemplary embodiment, a screen shotillustrates a 3D model constructed from a plurality of 2D photos takenfrom the UAV 50 as described herein. Note, the 3D model can be displayedon a computer or another type of processing device, such as via anapplication, a Web browser, or the like. The 3D model supports zoom,pan, tilt, etc.

Referring to FIGS. 20-25, in various exemplary embodiments, variousscreen shots illustrate GUIs associated with a 3D model of a cell sitebased on photos taken from the UAV 50 as described herein. FIG. 20 is aGUI illustrating an exemplary measurement of an object, i.e., the celltower 12, in the 3D model. Specifically, using a point and clickoperation, one can click on two points such as the top and bottom of thecell tower and the 3D model can provide a measurement, e.g. 175′ in thisexample. FIG. 21 illustrates a close up view of a cell site component 14such as an antenna and a similar measurement made thereon using pointand click, e.g. 4.55′ in this example. FIGS. 22 and 23 illustrate anaerial view in the 3D model showing surrounding geography around thecell site 10. From these views, the cell tower 12 is illustrated withthe surrounding environment including the structures, access road, fallline, etc. Specifically, the 3D model can assist in determining a fallline which is anywhere in the surroundings of the cell site 10 where thecell tower 12 may fall. Appropriate considerations can be made basedthereon.

FIGS. 24 and 25 illustrate the 3D model and associated photos on theright side. One useful aspect of the 3D model GUI is an ability to clickanywhere on the 3D model and bring up corresponding 2D photos. Here, anoperator can click anywhere and bring up full sized photos of the area.Thus, with the systems and methods described herein, the 3D model canmeasure and map the cell site 10 and surrounding geography along withthe cell tower 12, the cell site components 14, etc. to form acomprehensive 3D model. There are various uses of the 3D model toperform cell site audits including checking tower grounding; sizing andplacement of antennas, piping, and other cell site components 14;providing engineering drawings; determining characteristics such asantenna azimuths; and the like.

Referring to FIG. 26, in an exemplary embodiment, a photo illustratesthe UAV 50 in flight at the top of a cell tower 12. As described herein,it was determined that the optimum distance to photograph the cell sitecomponents 14 is about 10′ to 40′ distance.

Referring to FIG. 27, in an exemplary embodiment, a flowchartillustrates a process 850 for modeling a cell site with an UnmannedAerial Vehicle (UAV). The process 850 includes causing the UAV to fly agiven flight path about a cell tower at the cell site, wherein a launchlocation and launch orientation is defined for the UAV to take off andland at the cell site such that each flight at the cell site has thesame launch location and launch orientation (step 852); obtaining aplurality of photographs of the cell site during about the flight plane,wherein each of the plurality of photographs is associated with one ormore location identifiers (step 854); and, subsequent to the obtaining,processing the plurality of photographs to define a three dimensional(3D) model of the cell site based on the associated with one or morelocation identifiers and one or more objects of interest in theplurality of photographs (step 856).

The process 850 can further include landing the UAV at the launchlocation in the launch orientation; performing one or more operations onthe UAV, such as changing a battery; and relaunching the UAV from thelaunch location in the launch orientation to obtain additionalphotographs. The one or more location identifiers can include at leasttwo location identifiers including Global Positioning Satellite (GPS)and GLObal NAvigation Satellite System (GLONASS). The flight plane canbe constrained to an optimum distance from the cell tower. The pluralityof photographs can be obtained automatically during the flight planwhile concurrently performing a cell site audit of the cell site. Theprocess 850 can further include providing a graphical user interface(GUI) of the 3D model; and using the GUI to perform a cell site audit.The process 850 can further include providing a graphical user interface(GUI) of the 3D model; and using the GUI to measure various componentsat the cell site. The process 850 can further include providing agraphical user interface (GUI) of the 3D model; and using the GUI toobtain photographs of the various components at the cell site.

§11.1 3D Modeling Systems and Methods without UAVs

The above description explains 3D modeling and photo data capture usingthe UAV 50. Additionally, the photo data capture can be through othermeans, including portable cameras, fixed cameras, heads up displays(HUD), head mounted cameras, and the like. That is, the systems andmethods described herein contemplate the data capture through anyavailable technique. The UAV 50 will be difficult to obtain photosinside the buildings, i.e., the shelter or cabinet 52. Referring to FIG.28, in an exemplary embodiment, a diagram illustrates an exemplaryinterior 900 of a building 902, such as the shelter or cabinet 52, atthe cell site 10. Generally, the building 902 houses equipmentassociated with the cell site 10 such as wireless RF terminals 910(e.g., LTE terminals), wireless backhaul equipment 912, powerdistribution 914, and the like. Generally, wireless RF terminals 910connect to the cell site components 14 for providing associated wirelessservice. The wireless backhaul equipment 912 includes networkingequipment to bring the associated wireless service signals to a wirelinenetwork, such as via fiber optics or the like. The power distribution914 provides power for all of the equipment such as from the grid aswell as battery backup to enable operation in the event of powerfailures. Of course, additional equipment and functionality iscontemplated in the interior 900.

The terminals 910, equipment 912, and the power distribution 914 can berealized as rack or frame mounted hardware with cabling 916 and withassociated modules 918. The modules 918 can be pluggable modules whichare selectively inserted in the hardware and each can include uniqueidentifiers 920 such as barcodes, Quick Response (QR) codes, RFIdentification (RFID), physical labeling, color coding, or the like.Each module 918 can be unique with a serial number, part number, and/orfunctional identifier. The modules 918 are configured as needed toprovide the associated functionality of the cell site.

The systems and methods include, in addition to the aforementioned photocapture via the UAV 50, photo data capture in the interior 900 for 3Dmodeling and for virtual site surveys. The photo data capture can beperformed by a fixed, rotatable camera 930 located in the interior 900.The camera 930 can be communicatively coupled to a Data CommunicationNetwork (DCN), such as through the wireless backhaul equipment 912 orthe like. The camera 930 can be remotely controlled, such as by anengineer performing a site survey from his or her office. Othertechniques of photo data capture can include an on-site techniciantaking photos with a camera and uploading them to a cloud service or thelike. Again, the systems and methods contemplate any type of datacapture.

Again, with a plurality of photos, e.g., hundreds, it is possible toutilize photogrammetry to create a 3D model of the interior 900 (as wellas a 3D model of the exterior as described above). The 3D model iscreated using physical cues in the photos to identify objects ofinterest, such as the modules 918, the unique identifiers 920, or thelike. Note, the location identifiers described relative to the UAV 50are less effective in the interior 900 given the enclosed, interiorspace and the closer distances.

§12.0 Virtual Site Survey

Referring to FIG. 29, in an exemplary embodiment, a flowchartillustrates a virtual site survey process 950 for the cell site 10. Thevirtual site survey process 950 is associated with the cell site 10 andutilizes three-dimensional (3D) models for remote performance, i.e., atan office as opposed to in the field. The virtual site survey process950 includes obtaining a plurality of photographs of a cell siteincluding a cell tower and one or more buildings and interiors thereof(step 952); subsequent to the obtaining, processing the plurality ofphotographs to define a three dimensional (3D) model of the cell sitebased on one or more objects of interest in the plurality of photographs(step 954); and remotely performing a site survey of the cell siteutilizing a Graphical User Interface (GUI) of the 3D model to collectand obtain information about the cell site, the cell tower, the one ormore buildings, and the interiors thereof (step 956). The 3D model is acombination of an exterior of the cell site including the cell tower andassociated cell site components thereon, geography local to the cellsite, and the interiors of the one or more buildings at the cell site,and the 3D model can include detail at a module level in the interiors.

The remotely performing the site survey can include determiningequipment location on the cell tower and in the interiors; measuringdistances between the equipment and within the equipment to determineactual spatial location; and determining connectivity between theequipment based on associated cabling. The remotely performing the sitesurvey can include planning for one or more of new equipment and changesto existing equipment at the cell site through drag and drop operationsin the GUI, wherein the GUI includes a library of equipment for the dragand drop operations; and, subsequent to the planning, providing a listof the one or more of the new equipment and the changes to the existingequipment based on the library, for implementation thereof. The remotelyperforming the site survey can include providing one or more of thephotographs of an associated area of the 3D model responsive to anoperation in the GUI. The virtual site survey process 950 can includerendering a texture map of the interiors responsive to an operation inthe GUI.

The virtual site survey process 950 can include performing an inventoryof equipment at the cell site including cell site components on the celltower and networking equipment in the interiors, wherein the inventoryfrom the 3D model uniquely identifies each of the equipment based onassociated unique identifiers. The remotely performing the site surveycan include providing an equipment visual in the GUI of a rack and allassociated modules therein. The obtaining can include the UAV 50obtaining the photographs on the cell tower and the obtaining includesone or more of a fixed and portable camera obtaining the photographs inthe interior. The obtaining can be performed by an on-site technician atthe cell site and the site survey can be remotely performed.

In another exemplary embodiment, an apparatus adapted to perform avirtual site survey of a cell site utilizing three-dimensional (3D)models for remote performance includes a network interface and aprocessor communicatively coupled to one another; and memory storinginstructions that, when executed, cause the processor to receive, viathe network interface, a plurality of photographs of a cell siteincluding a cell tower and one or more buildings and interiors thereof;process the plurality of photographs to define a three dimensional (3D)model of the cell site based on one or more objects of interest in theplurality of photographs, subsequent to receiving the photographs; andprovide a Graphical User Interface of the 3D model for remoteperformance of a site survey of the cell site utilizing the 3D model tocollect and obtain information about the cell site, the cell tower, theone or more buildings, and the interiors thereof.

In a further exemplary embodiment, a non-transitory computer readablemedium includes instructions that, when executed, cause one or moreprocessors to perform the steps of: receiving a plurality of photographsof a cell site including a cell tower and one or more buildings andinteriors thereof processing the plurality of photographs to define athree dimensional (3D) model of the cell site based on one or moreobjects of interest in the plurality of photographs, subsequent toreceiving the photographs; and rendering a Graphical User Interface ofthe 3D model for remote performance of a site survey of the cell siteutilizing the 3D model to collect and obtain information about the cellsite, the cell tower, the one or more buildings, and the interiorsthereof.

The virtual site survey can perform anything remotely that traditionallywould have required on-site presence, including the various aspects ofthe cell site audit 40 described herein. The GUI of the 3D model can beused to check plumbing of coaxial cabling, connectivity of all cabling,automatic identification of cabling endpoints such as through uniqueidentifiers detected on the cabling, and the like. The GUI can furtherbe used to check power plant and batteries, power panels, physicalhardware, grounding, heating and air conditioning, generators, safetyequipment, and the like.

The 3D model can be utilized to automatically provide engineeringdrawings, such as responsive to the planning for new equipment orchanges to existing equipment. Here, the GUI can have a library ofequipment (e.g., approved equipment and vendor information can beperiodically imported into the GUI). Normal drag and drop operations inthe GUI can be used for equipment placement from the library. Also, theGUI system can include error checking, e.g., a particular piece ofequipment is incompatible with placement or in violation of policies,and the like.

§13.0 UAV Configuration for Wireless Testing

Referring to FIG. 30, in an exemplary embodiment, a block diagramillustrates functional components associated with the UAV 50 to supportwireless coverage testing. Specifically, the UAV 50 can include aprocessing device 1000, one or more wireless antennas 1002, a GPS and/orGLONASS location device 1004, one or more scanners 1006, WIFI 1008, andone or more mobile devices 1010. The processing device 1000 can includea similar architecture as the mobile device 100 described herein and cangenerally be used for control of the UAV 50 as well as control of thewireless coverage testing. The one or more wireless antennas 1002 can beconfigured to operate at any operating band using any wireless protocol(GSM, CDMA, UMTS, LTE, etc.). The one or more wireless antennas 1002 canbe communicatively coupled to the processing device 1000 for control andmeasurement thereof. The location device 1004 is configured to denote aspecific location of the UAV 50 at a specific time and can becommunicatively coupled to the processing device 1000. The locationdevice 1004 can collect latitude and longitude of each point as well aselevation. With this location information, the processing device 1000can correlate measurement data, time, speed, etc. with location. Thelocation information can also be used to provide feedback for thecorrect route of the UAV 50, during the wireless coverage testing andduring general operation.

The one or more scanners 1006 are configured to collect measurement datain a broad manner, across the wireless network. The scanners 1006 cancollected data that is not seen by the mobile devices 1010. The WIFI1008 can be used to collect wireless coverage data related to WirelessLocal Area Networks (WLANs), such as based on IEEE 802.11 and variantsthereof. Note, some cell sites 10 additionally provide WLAN coverage,such as for public access WIFI or for airplane WIFI access. Finally, themobile devices 1010 are physical mobile phones or emulation thereof, andcan be used to collect measurement data based on what a mobile device1010 would see.

Thus, the processing device 1000 provides centralized control andmanagement. The location device 1004 collects a specific datapoint—location at a specific time. Finally, the antennas 1002, the oneor more scanners 1006, the WIFI 1008, and the one or more mobile devices1010 are measurement collection devices. Note, in various exemplaryembodiments, the UAV 50 can include a combination of one or more of theantennas 1002, the one or more scanners 1006, the WIFI 1008, i.e., apractical embodiment does not require all of these devices.

The UAV 50 body can be configured with the antennas 1002, the one ormore scanners 1006, the WIFI 1008, and the one or more mobile devices1010 such that there is distance between these devices to avoidelectromagnetic interference or distortion of the radiation pattern ofeach that can affect measurements. In an exemplary embodiment, theantennas 1002, the one or more scanners 1006, the WIFI 1008, and the oneor more mobile devices 1010 are positioned on the UAV 50 with a minimumspacing between each, such as about a foot. In an exemplary embodiment,the UAV 50 is specifically designed to perform wireless coveragetesting. For example, the UAV 50 can include a long bar underneath withthe associated devices, the antennas 1002, the one or more scanners1006, the WIFI 1008, and the one or more mobile devices 1010, disposedthereon with the minimum spacing.

§13.1 Conventional Drive Testing

Referring to FIG. 31, in an exemplary embodiment, a map illustratesthree cell towers 12 and associated coverage areas 1050, 1052, 1054 fordescribing conventional drive testing. Typically, for a cell site 10, inrural locations, the coverage areas 1050, 1052, 1054 can be about 5miles in radius whereas, in urban locations, the coverage areas 1050,1052, 1054 can be about 0.5 to 2 miles in radius. For a conventionaldrive test, a vehicle drives a specific route 1056. Of course, the route1056 requires physical access, i.e., roads. Alternatively, the drivetest can be walked. Of course, this conventional approach is inefficientand only provides measurements on the ground.

§13.2 UAV-Based Wireless Coverage Testing

Referring to FIG. 32, in an exemplary embodiment, a 3D view illustratesa cell tower 12 with an associated coverage area 1060 in threedimensions—x, y, and z for illustrating UAV-based wireless coveragetesting. The UAV 50, with the configuration described in FIG. 30, can beflown about the coverage area 1060 taking measurements along the way ona route 1062. Specifically, the coverage area 1060 also includes anelevation 1064, i.e., the z-axis. The UAV 50 has the advantage over theconventional drive test in that it is not constrained to a specificroute on the ground, but can fly anywhere about the coverage area 1060.Also, the UAV 50 can obtain measurements much quicker as a UAV flight issignificantly faster than driving. Further, the UAV 50 can also performtesting of adjacent cell towers 12 in a same flight, flying to differentcoverage areas. For example, the UAV 50 can also measure overlappingregions between cell sites 12 for handoffs, etc. Thus, the UAV 50 hassignificant advantages over the conventional drive testing.

In an exemplary embodiment, the elevation 1064 can be up to 1000′ or upto 500′, providing coverage of areas at elevations the UAVs 50 intend tofly. In an exemplary embodiment, the route 1062 can include a circleabout the cell tower 12. In another exemplary embodiment, the route 1062can include circles of varying elevations about the cell tower 12. In afurther exemplary embodiment, the route 1062 can include a path to coverthe majority of the area within the coverage area 1060, using an optimalflight path therein. The UAV 50 can perform the wireless coveragetesting at any time of day—at night, for example, to measure activitiesrelated to system design or during the day to measure performance andmaintenance with an active network.

The wireless coverage testing with the UAV 50 configuration in FIG. 30can perform various functions to measure: Signal intensity, Signalquality, Interference, Dropped calls, Blocked calls, Anomalous events,Call statistics, Service level statistics, Quality of Service (QoS)information, Handover information, Neighboring cell information, and thelike. The wireless coverage testing can be used for networkbenchmarking, optimization and troubleshooting, and quality monitoring.

For benchmarking, sophisticated multi-channel tools can be used tomeasure several network technologies and service types simultaneously tovery high accuracy, to provide directly comparable information regardingcompetitive strengths and weaknesses. Results from benchmarkingactivities, such a comparative coverage analysis or comparative datanetwork speed analysis, are frequently used in marketing campaigns.Optimization and troubleshooting information is more typically used toaid in finding specific problems during the rollout phases of newnetworks or to observe specific problems reported by users during theoperational phase of the network lifecycle. In this mode, the wirelesstesting data is used to diagnose the root cause of specific, typicallylocalized, network issues such as dropped calls or missing neighbor cellassignments.

Service quality monitoring typically involves making test calls acrossthe network to a fixed test unit to assess the relative quality ofvarious services using Mean opinion score (MOS). Quality monitoringfocuses on the end user experience of the service, and allows mobilenetwork operators to react to what effectively subjective qualitydegradations by investigating the technical cause of the problem intime-correlated data collected during the drive test. Service qualitymonitoring is typically carried out in an automated fashion by the UAV50.

Once the UAV 50 starts the route 1062 and acquires location information,the wireless coverage testing process begins. Again, the UAV 50 can usetwo different location identifiers, e.g., GPS and GLONASS, to provideimproved accuracy for the location. Also, the UAV 50 can performsubsequent tests from a same launch point and orientation as describedherein. During the flight on the route 1062, the UAV 50 obtainsmeasurements from the various wireless measurement devices, i.e., theantennas 1002, the one or more scanners 1006, the WIFI 1008, and the oneor more mobile devices 1010, and denotes such measurements with time andlocation identifiers.

The UAV 50 is configured based on the associated protocols and operatingbands of the cell tower 12. In an exemplary embodiment, the UAV 50 canbe configured with two of the mobile devices 1010. One mobile device1010 can be configured with a test call during the duration of theflight, collecting measurements associated with the call during flighton the route 1062. The other mobile device 1010 can be in a free or IDLEmode, collecting associated measurements during flight on the route1062. The mobile device 1010 making the call can perform short calls,such as 180 seconds to check if calls are established and successfullycompleted as well as long calls to check handovers between cell towers12.

Subsequent to the wireless coverage testing process, the collectedmeasurement data can be analyzed and processed by various softwaretools. The software tools are configured to process the collectedmeasurement data to provide reports and output files. Eachpost-processing software has its specific analysis, and as the collectedmeasurement data is large, they can be of great help to solve veryspecific problems. These tools present the data in tables, maps andcomparison charts that help in making decisions.

§13.3 UAV-Based Wireless Coverage Testing—Aerial Results

The wireless coverage testing with the UAV 50 enables a newmeasurement—wireless coverage above the ground. As described herein,cell towers 12 can be used for control of UAVs 50, using the wirelessnetwork. Accordingly, the wireless coverage testing is useful inidentifying coverage gaps not only on the ground where users typicallyaccess the wireless network, but also in the sky, such as up to 500 or1000′ where UAVs 50 will fly and need wireless coverage.

§13.4 UAV-Based Wireless Coverage Testing Process

Referring to FIG. 33, in an exemplary embodiment, a flowchartillustrates a UAV-based wireless coverage testing process 1080. TheUAV-based wireless coverage testing process 1080 includes, with a UAVincluding a wireless coverage testing configuration, flying the UAV in aroute in a wireless coverage area associated with a cell tower (step1082); collecting measurement data via the wireless coverage testingconfiguration during the flying and associating the collectedmeasurement data with location identifiers (step 1084); and, subsequentto the flying, processing the collected measurement data with thelocation identifiers to provide an output detailing wireless coverage inthe wireless coverage area including wireless coverage at ground leveland above ground level to a set elevation (step 1086). The wirelesscoverage testing configuration can include one or more devices includingany of wireless antennas, wireless scanners, Wireless Local Area Network(WLAN) antennas, and one or more mobile devices, communicatively coupledto a processing device, and each of the one or more devices disposed inor on the UAV. Each of the one or more devices can be positioned aminimum distance from one another to prevent interference, such as onefoot. The UAV 50 can include a frame disposed thereto with the one ormore devices attached thereto with a minimum distance from one anotherto prevent interference. The location identifiers can include at leasttwo independent location identification techniques thereby improvingaccuracy thereof, such as GPS and GLONASS. Each subsequent of the flyingsteps for additional wireless coverage testing can be performed with theUAV taking off and landing at a same location and orientation at a cellsite associated with the cell tower. The route can include asubstantially circular pattern at a fixed elevation about the cell toweror a substantially circular pattern at a varying elevations about thecell tower.

The wireless coverage testing configuration can be configured to measurea plurality of Signal intensity, Signal quality, Interference, Droppedcalls, Blocked calls, Anomalous events, Call statistics, Service levelstatistics, Quality of Service (QoS) information, Handover information,and Neighboring cell information. The route can include locationsbetween handoffs with adjacent cell towers. The UAV-based process 1080can further include, subsequent to the flying and prior to theprocessing, flying the UAV in a second route in a second wirelesscoverage area associated with a second cell tower; and collecting secondmeasurement data via the wireless coverage testing configuration duringthe flying the second route and associating the collected secondmeasurement data with second location identifiers.

In another exemplary embodiment, an Unmanned Aerial Vehicle (UAV)adapted for wireless coverage testing includes one or more rotorsdisposed to a body; wireless interfaces; a wireless coverage testingconfiguration; a processor coupled to the wireless interfaces, the oneor more rotors, and the wireless coverage testing configuration; andmemory storing instructions that, when executed, cause the processor to:cause the UAV to fly in a route in a wireless coverage area associatedwith a cell tower; collect measurement data via the wireless coveragetesting configuration during the flight and associate the collectedmeasurement data with location identifiers; and, subsequent to theflight, provide the collected measurement data with the locationidentifiers for processing to provide an output detailing wirelesscoverage in the wireless coverage area including wireless coverage atground level and above ground level to a set elevation.

§14.0 Installation of Equipment with UAVs

Referring to FIG. 34, in an exemplary embodiment, a diagram illustratesa partial view of the exemplary cell site 10 for describing installationof equipment with the UAV 50. Again, the cell site 10 includes the celltower 12. The cell tower 12 includes horizontal support structures 1100,1102 which are attached to a pole 1104 at varying heights. The antennas30 are attached/supported by the horizontal support structures 1100,1102. Techniques are described herein for installing the antennas 30 viathe UAV 50. Those of ordinary skill in the art will recognize that othertypes of equipment could also be installed using these techniques, suchas lighting rods, lights, radios, and the like. For example,conventionally, radios were located in the shelter or cabinet 52.However, which use of different spectrum, e.g., 1.9 GHz, some radios arebeing located closer to the antennas 30. Additionally, someconfigurations support integration of the radios in the antennas 30.

The UAV 50 is configured to provide the equipment, such as the antenna30, up the cell tower 12 to the appropriate location, i.e., thehorizontal support structures 1100, 1102. Note, the horizontal supportstructures 1100, 1102 can be located in the middle or the top of thecell tower 12. The UAV 50 can include additional rotors 80 and therotors 80 can be larger. Also, the body 82 can be larger as well.Generally, for the systems and methods described herein, the UAV 50 isconfigured to support equipment weighing a couple hundred pounds, suchas, for example, 150-250 lbs. The UAV 50 can support the equipmentthrough the robotic arms 600. Also, the arms 60 can be fixed. In anexemplary embodiment, the UAV 50 does not require the arms 60 to movethe equipment, but rather the entire UAV 50 moves the equipment andplaces it appropriately. However, the arms 600 are configured to holdthe equipment during the flight and to release once positioned andconnected to the horizontal support structures 1100, 1102.

The arms 600 are configured based on the type of equipment they support.For example, the antennas 30 are typically rectangular and the arms 600can be configured to clasp a center portion of the antenna 30. The UAV50 generally flies vertically from the base of the cell tower 12 withthe antenna 30 secured in the arms 600. For example, the antenna 30 canbe secured to the arms 600 on the ground at the base of the cell tower12 by one or more installers.

Once secured, the UAV 50 can be manually, automatically, or acombination of both flown to the appropriate location on the cell tower12, i.e., the horizontal support structures 1100, 1102. Note, thesystems and methods contemplate an operator flying the UAV 50 asdescribed herein. In another embodiment, the UAV 50 can operateautonomously or semi-autonomously, such as based on directional aids,location identifiers, objects of interest, or the like. For example, theUAV 50, via a processor 102 or the like, can be programmed with thelocation on the horizontal support structures 1100, 1102 for placement.The UAV 50 can use the directional aids, location identifiers, objectsof interest, or the like to direct the flight based on the location.

Referring to FIG. 35, in an exemplary embodiment, a diagram illustratesa view of the horizontal support structures 1100, 1102 and the antenna30. The horizontal support structures 1100, 1102 can include directionalaids 1150 indicative of a location where the antenna 30 or otherequipment is to be placed. The directional aids 1150 can be barcodes,Quick Response (QR) codes, a number, a symbol, a picture, a color, aphrase such as “drop here,” or combinations thereof. The directionalaids 1150 can be detected and monitored by the camera 86 in the UAV 50which can maintain a visual connection to determine proper flight, suchas a feedback loop to automatically fly to the horizontal supportstructures 1100, 1102 to place the antenna 30. Those of ordinary skillin the art will recognize the UAV 50 can use any autonomous flightalgorithm with the directional aids 1150 providing the location toarrive at.

The horizontal support structures 1100, 1102 can include magnets 1152and the antenna 30 can also include magnets 1154. In an exemplaryembodiment, only one of the horizontal support structures 1100, 1102 andthe antenna 30 include the magnets 1152, 1154. In another exemplaryembodiment, both the horizontal support structures 1100, 1102 and theantenna 30 include the magnets 1152, 1154. Generally, the magnets 1152,1154 can be used to hold the antenna 30 on the horizontal supportstructures 1100, 1102, i.e., the UAV 50 can place the antenna 30 on thehorizontal support structures 1100, 1102 with the magnets 1100, 1102.The magnets 1152, 1154 can be permanent magnets or electricallyenergized magnets. For example, the magnets 1152, 1154 can beselectively magnetic using the electrically energized magnets.

This selective magnetic embodiment can be used to have the magnets 1152,1154 for temporary use, i.e., the UAV 50 places the antenna 30 on thehorizontal support structures 1100, 1102 with the magnets 1152, 1154used to temporary hold the antenna 30 in place while the antenna isphysically attached to the horizontal support structures 1100, 1102.Once the antenna 30 is fixedly attached to the horizontal supportstructures 1100, 1102, the magnets 1152, 1154 can be turned off. Note,the magnets 1152, 1154, when energized or magnetic, may interfere withthe antennas 30. Thus, the selective magnetic embodiment allows for themagnets 1152, 1154 to become non-magnetic after they are fixed to thehorizontal support structures 1100, 1102.

The horizontal support structures 1100, 1102 are generally not drilledinto and the attachment between the horizontal support structures 1100,1102 and the antennas 30 can be a clamp 1156. In an exemplaryembodiment, the clamp 1156 is attached to the antenna 30 after the UAV50 delivers the antenna 30 and has it held in place by the magnets 1152,1154 by an installer on the cell tower. Here, the installer can performnormal installation with the systems and methods providing a convenientand efficient mechanism to deliver the antenna 30.

In another exemplary embodiment, the clamps 1156 have an automaticmechanical grabbing feature where no installer is required. Here, theUAV 50 can fly the antenna 30 to the clamps 1156 and the clamps 1156 canautomatically attach to the antenna 30. This automatic mechanicalfeature may or may not use the magnets 1152, 1154. For example, theclamps 1156 can have a mechanical locking mechanism similar to handcuffswhere the UAV 50 pushes the antenna 30 in and the clamps automaticallylock.

In a further exemplary embodiment, the automatic mechanical feature caninclude other techniques such as a vacuum on the horizontal supportstructures 1100, 1102 or the antenna 30 which can selectively grab andconnect.

In a further exemplary embodiment, the magnets 1152, 1154 can be used tohold the antenna 30 in place and the robotic arms 600 can be used tofixedly attach the antenna 30, such as via the clamps 1156. All of thetechniques described herein are also contemplate for operations duringthe installation.

§14.1 UAV-Based Installation Method

Referring to FIG. 36, in an exemplary embodiment, a flowchartillustrates an Unmanned Aerial Vehicle (UAV)-based installation method1180 for equipment on cell towers. The UAV-based installation method1180 includes flying the UAV with the equipment attached thereto upwardsto a desired location on the cell tower, wherein the desired locationincludes one or more horizontal support structures (step 1182);positioning the equipment to the desired location on the cell tower(step 1184); connecting the equipment to the desired location (step1186); and disconnecting the equipment from the UAV (step 1188). TheUAV-based installation method 1180 can further include attaching theequipment to the UAV via one or more robotic arms prior to the flying.The equipment can include one or more of an antenna and a radio. Thepositioning can be via one or more directional aids located on the oneor more horizontal support structures, wherein the directional aids aremonitored via a camera associated with the UAV. The one or moredirectional aids can include one or more of barcodes, Quick Response(QR) codes, numbers, symbols, pictures, a color, a phrase, and acombination thereof.

The positioning can include temporarily fixing the equipment to thedesired location for the connecting. The positioning can includeattaching the equipment to the desired location via one or more magnets.The one or more magnets can be selectively energized for the positioningand the connecting and turned off subsequent to the connecting. Theconnecting can include attaching one or more clamps between theequipment and the one or more horizontal support structures. The one ormore clamps can automatically connect to the equipment. The flying canbe performed by an operator with assistance from one or more directionalaids located on the one or more horizontal support structures. Theflying can be performed by autonomously by the UAV based on one or moredirectional aids located on the one or more horizontal supportstructures. The UAV-based installation method 1180 can further includeperforming the disconnecting subsequent to the positioning; and usingone or more robotic arms on the UAV to perform the connecting.

In another exemplary embodiment, an Unmanned Aerial Vehicle (UAV) usedin installation of equipment on cell towers includes one or more rotorsdisposed to a body; wireless interfaces; one or more arms adapted toconnect and disconnect from the equipment; a processor coupled to thewireless interfaces, the one or more rotors, and the one or more arms;and memory storing instructions that, when executed, cause the processorto: fly with the equipment attached to the one or more arms upwards to adesired location on the cell tower, wherein the desired locationincludes one or more horizontal support structures; position theequipment to the desired location on the cell tower; connect theequipment to the desired location; and disconnect the equipment from theUAV.

§15.0 Installation and Maintenance of Equipment on Cell Towers withRobotic Devices

Referring to FIGS. 37A-37C, in various exemplary embodiments, diagramsillustrate different types of cell towers 12, namely a self-supporttower 12A (FIG. 37A), a monopole tower 12B (FIG. 37B), and a guyed tower12C (FIG. 37C). These three types of towers 12A, 12B, 12C have differentsupport mechanisms. The self-support tower 10A can also be referred toas a lattice tower and it is free standing, with a triangular base withthree or four sides. The monopole tower 12B is a single tube tower andit is also free standing, but typically at a lower height than theself-support tower 12A. The guyed tower 12C is a straight rod supportedby wires attached to the ground.

Referring to FIG. 38, in an exemplary embodiment, a block diagramillustrates a robotic device 1200 configured for use with the celltowers 12A, 12B, 12C for installation and/or maintenance of cell sitecomponents 14 on the cell towers 12A, 12B, 12C. The robotic device 1200is configured to traverse up and down the cell tower 12 with climbingcomponents 1202 and to perform physical manipulation of equipment,cabling, etc. with manipulation components 1204. In addition to theclimbing components 1202 and the manipulation components 1204, therobotic device 1200 includes a body 1206 which may include power,physical support for the climbing components 1202 and the manipulationcomponents 1204, processing (e.g., the robotic device 1200 can includethe mobile device 100 or equivalent disposed or associated with the body1206).

Thus, the robotic device 1200 reduces or avoids tower climbs forinstallation and maintenance on equipment on the cell towers 12. Therobotic device 1200 can crawl to the top of the cell tower 12, can bedelivered by Unmanned Aerial Vehicles (UAV) 50, can be delivered byguide wire, can be delivered by a crane, pulley, etc. or the like. Whileon the cell tower 12, the robotic devices 1200 can be used, eithermanually, autonomously, or a combination of both, to perform varioustasks on cell tower components 14 such as antennas or the like. In anexemplary embodiment, the robotic device 1200 can be used to bringcabling up the cell tower 12 in conjunction with UAV-based systems andmethods which install equipment such as antennas.

The climbing components 1202 are configured to allow the robotic device1200 to traverse up and down the cell tower 12. Those of ordinary skillin the art will recognize the robotic device 1200 can include anymechanism for climbing, but in an exemplary embodiment, the climbingcomponents 1202 can include various wheels 1210. For example, totraverse the self-support tower 12A, the monopole tower 12B, the guyedtower 12C, etc., wheels 1210A, 1210B are on the body 1206 to roll up ordown the tower 12 while a wheel 1210C is spaced apart from the body 1206via a member 1212 to keep the robotic device 1200 affixed to the tower12 during transit. Also, this arrangement of the climbing components1202 could be used with a guide wire to traverse up and down the celltower 12.

The manipulation components 1204 can include one or more robotic arms1220 which can include a member 1222 which is rotatable or moveablerelative to the body 1206 and a grasping device 1224 which canphysically interact and/or manipulate with the cell site components 14.The robotic device 1200 can include multiple arms 1220 in someembodiments and a single arm 1220 in another embodiment.

In another exemplary embodiment, the climbing components 1202 can be thesame as the manipulation components 120, such as when there is more thanone robotic arm 1220. Here, the robotic arms 1220 can be used to bothinstall/manipulate the cell site components 14 as well as to climb thecell tower 12. For example, the robotic arms 1220 can grasp stairs onthe cell tower 12, supports on a lattice tower, safety climb wires, orthe like.

The climbing components 1202 may also include magnets includingselectively enabled magnets. Note, the cell towers 12 include metal andthe magnets could be used to traverse up and down the cell tower 12.

Thus, in operation, the climbing components 1202 are used to traverse upand down the cell tower as well as to maintain the robotic device 1200in a stable position at a desired location on the cell tower 12. Once atthe desired location, the manipulation components 1204 are used toperform installation and/or maintenance. For example, the manipulationcomponents 1204 can be controlled with a mobile device 100 or controllerwhich is wirelessly connected to the robotic device 1200, through aHeads Up Display (HUD) or Virtual Reality (VR) controller which iswirelessly connected to the robotic device 1200, or the like. With theHUD or VR controller, an operator can remotely operate the roboticdevice 1200, from the ground, thereby having arms in the sky without thetower climb.

The manipulation components 1204 can be used to perform similarfunctionality as the robotic arms 600, including bringing the payload602 up the cell tower 12. In an exemplary embodiment, the manipulationcomponents 1204 can be used to bring cabling up the cell tower 12, suchas in conjunction with the UAV-based installation method 1180.

In an exemplary embodiment, a plurality of robotic devices 1200 can beused in combination. For example, the plurality of mobile devices 1200can combine with one another at a desired location to form an aggregaterobotic device.

Referring to FIG. 39, in an exemplary embodiment, a flowchartillustrates a method 1300 for installation and maintenance of cell sitecomponents with the robotic device 1200. The method 1300 includescausing the robotic device to traverse up the cell tower to a desiredlocation proximate to the cell site components (step 1302); once at thedesired location and stabilized to the cell tower, causing manipulationcomponents to perform one or more of installation and maintenance of thecell site components (step 1304); and, subsequent to the one or more ofinstallation and maintenance of the cell site components, causing therobotic device to traverse down the cell tower (step 1306).

The robotic device traverses up and down the cell tower via climbingcomponents associated with the robotic device. The climbing componentscan include a plurality of wheels configured to traverse the cell towerand stabilize the robotic device to the cell tower; a plurality ofmagnets; and a pulley system. The cell tower can include one of aself-support tower, a monopole tower, and a guyed tower, and climbingcomponents for the robotic device are configured based on a type of thecell tower.

The manipulation components can include one or more members with roboticarms coupled thereto. The robotic device can include a body comprising aprocessor and wireless components; climbing components disposed to thebody; and the manipulation components moveably disposed to the body.

The causing can be performed by one of a mobile device and a controllerwirelessly coupled to the robotic device. The causing can be performedby one of a Heads Up Display and a Virtual Reality controller wirelesslycoupled to the robotic device. The robotic device can be utilized tobring a cable up the cell tower and to connect the cable to the cellsite components. The cell site components can be installed by anUnmanned Aerial Vehicle (UAV).

In another exemplary embodiment, an apparatus for installation andmaintenance of cell site components on a cell tower with a roboticdevice includes a wireless interface; a processor communicativelycoupled to the wireless interface; and memory storing instructions that,when executed, cause the processor to cause the robotic device totraverse up the cell tower to a desired location proximate to the cellsite components; once at the desired location and stabilized to the celltower, cause manipulation components to perform one or more ofinstallation and maintenance of the cell site components; and,subsequent to the one or more of installation and maintenance of thecell site components, cause the robotic device to traverse down the celltower.

§16.0 Close-Out Audit Systems and Methods

Again, a close-out audit is done to document and verify the workperformed at the cell site 10. The systems and methods eliminate theseparate third-party inspection firm for the close-out audit. Thesystems and methods include the installers (i.e., from the third-partyinstallation firm, the owner, the operator, etc.) performing videocapture subsequent to the installation and maintenance and using varioustechniques to obtain data from the video capture for the close-outaudit. The close-out audit can be performed off-site with the data fromthe video capture thereby eliminating unnecessary tower climbs, sitevisits, and the like.

Referring to FIG. 40, in an exemplary embodiment, a flowchartillustrates a close-out audit method 1350 performed at a cell sitesubsequent to maintenance or installation work. The close-out auditmethod 1350 includes, subsequent to the maintenance or installationwork, obtaining video capture of cell site components associated withthe work (step 1352); subsequent to the video capture, processing thevideo capture to obtain data for the close-out audit, wherein theprocessing comprises identifying the cell site components associatedwith the work (step 1354); and creating a close-out audit package basedon the processed video capture, wherein the close-out audit packageprovides verification of the maintenance or installation work andoutlines that the maintenance or installation work was performed in amanner consistent with an operator or owner's guidelines (step 1356).

The video capture can be performed by a mobile device and one or more oflocally stored thereon and transmitted from the mobile device. The videocapture can also be performed by a mobile device which wirelesslytransmits a live video feed and the video capture is remotely storedfrom the cell site. The video capture can also performed by an UnmannedAerial Vehicle (UAV) flown at the cell site. Further, the video capturecan be a live video feed with two-way communication between an installerassociated with the maintenance or installation work and personnelassociated with the operator or owner to verify the maintenance orinstallation work. For example, the installer and the personnel cancommunicate to go through various items in the maintenance orinstallation work to check/audit the work.

The close-out audit method 1350 can also include creating athree-dimensional (3D) model from the video capture; determiningequipment location from the 3D model; measuring distances between theequipment and within the equipment to determine actual spatial location;and determining connectivity between the equipment based on associatedcabling from the 3D model. The close-out audit method 1350 can alsoinclude uniquely identifying the cell site components from the videocapture and distinguishing in the close-out audit package. The close-outaudit method 1350 can also include determining antenna height, azimuth,and down tilt angles for antennas in the cell site components from thevideo capture; and checking the antenna height, azimuth, and down tiltangles against predetermined specifications.

The close-out audit method 1350 can also include identifying cabling andconnectivity between the cell site components from the video capture anddistinguishing in the close-out audit package. The close-out auditmethod 1350 can also include checking a plurality of factors in theclose-out audit from the video capture compared to the operator orowner's guidelines. The close-out audit method 1350 can also includechecking grounding of the cell site components from the video capture,comparing the checked grounding to the operator or owner's guidelinesand distinguishing in the close-out audit package. The close-out auditmethod 1350 can also include checking mechanical connectivity of thecell site components to a cell tower based on the video capture anddistinguishing in the close-out audit package.

In another exemplary embodiment, a system adapted for a close-out auditof a cell site subsequent to maintenance or installation work includes anetwork interface and a processor communicatively coupled to oneanother; and memory storing instructions that, when executed, cause theprocessor to, subsequent to the maintenance or installation work, obtainvideo capture of cell site components associated with the work;subsequent to the video capture, process the video capture to obtaindata for the close-out audit, wherein the processing comprisesidentifying the cell site components associated with the work; andcreate a close-out audit package based on the processed video capture,wherein the close-out audit package provides verification of themaintenance or installation work and outlines that the maintenance orinstallation work was performed in a manner consistent with an operatoror owner's guidelines.

In a further exemplary embodiment, a non-transitory computer readablemedium includes instructions that, when executed, cause one or moreprocessors to perform the steps of, subsequent to the maintenance orinstallation work, obtaining video capture of cell site componentsassociated with the work; subsequent to the video capture, processingthe video capture to obtain data for the close-out audit, wherein theprocessing comprises identifying the cell site components associatedwith the work; and creating a close-out audit package based on theprocessed video capture, wherein the close-out audit package providesverification of the maintenance or installation work and outlines thatthe maintenance or installation work was performed in a mannerconsistent with an operator or owner's guidelines.

The close-out audit package can include, without limitation, drawings,cell site component settings, test results, equipment lists, pictures,commissioning data, GPS data, Antenna height, azimuth and down tiltdata, equipment data, serial numbers, cabling, etc.

§17.0 3D Modeling Systems and Methods

Referring to FIG. 41, in an exemplary embodiment, a flowchartillustrates a 3D modeling method 1400 to detect configuration and sitechanges. The 3D modeling method 1400 utilizes various techniques toobtain data, to create 3D models, and to detect changes inconfigurations and surroundings. The 3D models can be created at two ormore different points in time, and with the different 3D models, acomparison can be made to detect the changes. Advantageously, the 3Dmodeling systems and methods allow cell site operators to efficientlymanage the cell sites without repeated physical site surveys.

The modeling method 1400 includes obtaining first data regarding thecell site from a first audit performed using one or more dataacquisition techniques and obtaining second data regarding the cell sitefrom a second audit performed using the one or more data acquisitiontechniques, wherein the second audit is performed at a different timethan the first audit, and wherein the first data and the second dataeach comprise one or more location identifiers associated therewith(step 1402); processing the first data to define a first model of thecell site using the associated one or more location identifiers andprocessing the second data to define a second model of the cell siteusing the associated one or more location identifiers (step 1404);comparing the first model with the second model to identify the changesin or at the cell site (step 1406); and performing one or more actionsbased on the identified changes (step 1408).

The one or more actions can include any remedial or corrective actionsincluding maintenance, landscaping, mechanical repair, licensing fromoperators who install more cell site components 14 than agreed upon, andthe like. The identified changes can be associated with cell sitecomponents installed on a cell tower at the cell site, and wherein theone or more actions comprises any of maintenance, licensing withoperators, and removal. The identified changes can be associated withphysical surroundings of the cell site, and wherein the one or moreactions comprise maintenance to correct the identified changes. Theidentified changes can include any of degradation of gravel roads, treesobstructing a cell tower, physical hazards at the cell site, andmechanical issues with the cell tower or a shelter at the cell site.

The first data and the second data can be obtained remotely, without atower climb. The first model and the second model each can include athree-dimensional model of the cell site, displayed in a Graphical UserInterface (GUI). The one or more data acquisition techniques can includeusing an Unmanned Aerial Vehicle (UAV) to capture the first data and thesecond data. The one or more data acquisition techniques can includeusing a fixed or portable camera to capture the first data and thesecond data. The one or more location identifiers can include at leasttwo location identifiers comprising Global Positioning Satellite (GPS)and GLObal NAvigation Satellite System (GLONASS). The second model canbe created using the first model as a template for expect objects at thecell site.

In another exemplary embodiment, a modeling system adapted for detectingchanges in or at a cell site includes a network interface and aprocessor communicatively coupled to one another; and memory storinginstructions that, when executed, cause the processor to obtain firstdata regarding the cell site from a first audit performed using one ormore data acquisition techniques and obtain second data regarding thecell site from a second audit performed using the one or more dataacquisition techniques, wherein the second audit is performed at adifferent time than the first audit, and wherein the first data and thesecond data each comprise one or more location identifiers associatedtherewith; process the first data to define a first model of the cellsite using the associated one or more location identifiers and processthe second data to define a second model of the cell site using theassociated one or more location identifiers; compare the first modelwith the second model to identify the changes in or at the cell site;and cause performance of one or more actions based on the identifiedchanges.

In a further exemplary embodiment, a non-transitory computer readablemedium includes instructions that, when executed, cause one or moreprocessors to perform the steps of: obtaining first data regarding thecell site from a first audit performed using one or more dataacquisition techniques and obtaining second data regarding the cell sitefrom a second audit performed using the one or more data acquisitiontechniques, wherein the second audit is performed at a different timethan the first audit, and wherein the first data and the second dataeach comprise one or more location identifiers associated therewith;processing the first data to define a first model of the cell site usingthe associated one or more location identifiers and processing thesecond data to define a second model of the cell site using theassociated one or more location identifiers; comparing the first modelwith the second model to identify the changes in or at the cell site;and performing one or more actions based on the identified changes.

§18.0 Using Drones to Transport Maintenance Personnel to a Cell Tower

Referring to FIGS. 42-44, in various exemplary embodiments, diagramsillustrate drones 1450, 1452 and a single person propulsion system 1454each adapted to transport a person up the cell tower 12. Specifically,FIG. 42 is a diagram of a drone adapted to transport a person up a celltower; FIG. 43 is a diagram of another drone adapted to transport aperson up the cell tower; and FIG. 44 is a diagram of a single personpropulsion system adapted to transport a person up the cell tower. Thoseof ordinary skill in the art that any type of drone or propulsion systemis contemplated herein.

The drones 1450, 1452 or the system 1454 are adapted to quickly andsafely bring maintenance personnel up to the cell tower 12 in lieu of atower climb. After performing numerous tower climbs for cell siteaudits, maintenance, installation, etc., a time study was performedwhich showed the process of a tower climb takes well over an hour,including suiting up with gear, climbing the cell tower 12, clicking inand out of safety harnesses along the way, etc. Also, maintenancepersonnel are exhausted at the end of the tower climb.

The drone 1450 includes a support structure 1460 with a plurality ofrotors thereon. A person (or multiple persons) are connected to thesupport structure 1460 via support wires or members 1462. The person cansit in a seat 1464 or connect to the members 1462 via harnesses, a vest,etc. (not shown). The seat 1464 can include landing members 1466. If thesupport wires or members 1462 are rigid members, the landing members1466 can support the drone 1450 on the ground. If the support wires ormembers 1462 are wires, the support structure 1460 can land apart fromthe person, take off and lift the person.

The drone 1452 includes a single set of rotors 1470 connected to a motor1472 which connects to a support member 1474 which extends for adistance and connects to a base 1476. The base 1476 can supportmaintenance personnel through harnesses, a vest, or a seat. The base1476 can connect to landing members 1478 which support the drone 1452 onthe ground. A control system 1480 extends from the support member 1474for control of the drone 1452.

Both of the drones 1450, 1452 are specifically adapted to the task ofraising and lowering people along the cell tower 12. Specifically, thesupport wires or members 1462 and the support member 1474 havesignificant length allowing the support structure 1460 or the rotors1470 to clear the top of the cell tower 12. In this manner, the drones1450, 1452 can position a person directly adjacent to the cell tower 12such as to a platform thereon without interfering, i.e., touching,causing damage, etc., to the cell tower 12 or the cell site components14.

In FIG. 44, the single person propulsion system 1454 is shown whichincludes a base 1490 which connects to one or more jet propulsionsystems 1492 and a harness 1494. Here, a person connects to the harness1494 and uses the jet propulsion systems 1492 to go up the cell tower12.

Again, the present disclosure contemplates any other means of aerialpropulsion such as helicopters, quadcopters, or the like. In anexemplary embodiment, a key aspect is any system should include enoughlength, i.e., a substantial length, between the aerial flying componentsand any maintenance personnel such that the aerial flying components canextend over the height of the cell tower 12 such that the cell tower 12and the cell site components 14 are protected and such that themaintenance personnel can be placed directly adjacent to a desiredlocation on the cell tower 12. The substantial length can be 20-40 feetor the like. Note, the drones 1450, 1452 only require substantiallyvertical flight to go up and down. Thus, having the flying componentssignificantly higher than the person is not an issue.

Referring to FIG. 45, in an exemplary embodiment, a diagram illustratesa cell tower with various platforms 1500 for receiving a person from adrone or the like. Using drones, it is necessary to have a place tolocate maintenance personnel on the cell tower 12. In an exemplaryembodiment, the cell tower 12 can include fixed or removable platforms1500 for the drones 1450, 1452 or the like to place the personnel andfor the personnel to get back in the drones 1450, 1452 to fly back tothe ground. The drones 1450, 1452 can include a connection to safelyconnect to the platforms 1500 for stability during ingress and egress.

In an exemplary embodiment, the platforms 1500 are fixed, i.e., builtinto the cell tower 12. In another exemplary embodiment, the platforms1500 are selectively removable and can be added by the maintenancepersonnel on an as needed basis. For example, the platform 1500 can alsobe connected to the drones 1450, 1452 and be locked into place on thecell tower 12 during maintenance. After maintenance and after thepersonnel are back in the drones 1450, 1452, the platforms 1500 can beremoved and brought back to the ground with the personnel.

The present disclosure can be used for site audits, site surveys,maintenance, and installation to avoid slow, inefficient tower climbs.In an exemplary embodiment, at least two drones 1450, 1452 can be onsite—one for operation and one for backup.

The drones 1450, 1452 can operate autonomously based on locationidentification information since the flight plan here is constrained toa small area, i.e., just at the cell tower 12. For example, using a GUIor the like, an exact position can be specified such as on a map, 3Dmodel, photograph or the like, and the drones 1450, 1452 canautomatically fly to this location, avoiding the cell tower 12 or cellsite components 14. In another exemplary embodiment, the drones 1450,1452 can fly under control of the person therein or via remote controlfrom an operator.

In an exemplary embodiment, the drones 1450, 1452 are configured tobring the person to the top of the cell tower 12, and if there is a needto access lower cell site components 14, the person can perform a towerclimb down, using safety harnesses, etc. Climbing down slightly is quickand does not exhaust the same amount of physical resources.

Referring to FIG. 46, in an exemplary embodiment, a flowchartillustrates a method 1550 for transporting maintenance personnel to acell tower 12. The method 1550 includes, responsive to a requirement fora tower climb for one or more of a site survey, a site audit,maintenance, and installation at the cell tower, securing a person in adrone, wherein the drone comprises flight components at a substantiallength from the person allowing the flight components to fly over a topof the cell tower and to place the person directly adjacent to a desiredlocation on the cell tower (step 1552); flying the drone up the celltower to locate the person directly adjacent to the desired location(step 1554); and performing the one or more of a site survey, a siteaudit, maintenance, and installation at the cell tower (step 1556).

The method 1550 can further include connecting to a platform on the celltower for the person to egress and ingress to the drone. The platformcan be transported with the drone and selectively connected to the celltower by the person. The drone can include a support structure with aplurality of rotors and support wires or members for the securing,wherein the support wires or members comprise the substantial length.The drone can include a single set of rotors connected to a motorconnected to a base via a support member, wherein the person is securedto the base, and wherein the support member comprises the substantiallength. The drone can include a single person propulsion system. Thedrone can be automatically guided to the desired location based onlocation identifiers and wherein the desired location is set via aGraphical User Interface or three-dimensional model of the cell tower.The drone can be one of manually operated by the person and by remotecontrol via an operator. The method 1550 can further include maintaininga second drone for backup. The substantial length can be at least 20feet.

In another exemplary embodiment, a drone for transporting maintenancepersonnel at a cell tower includes one or more rotors connected to astructure; one or more support members connected to the structure,wherein a person is selectively secured to the one or more supportmembers, wherein the one or more support members comprise a substantiallength from the person to the one or more rotors allowing the one ormore rotors to fly over a top of the cell tower and to place the persondirectly adjacent to a desired location on the cell tower; wherein,responsive to a requirement for a tower climb for one or more of a sitesurvey, a site audit, maintenance, and installation at the cell tower,the drone is adapted to fly the person up the cell tower for performancethereof. The drone can further include a connector adapted to connect toa platform on the cell tower for the person to egress and ingress to thedrone. The platform can be transported with the drone and selectivelyconnected to the cell tower by the person.

The drone can include a plurality of rotors and the one or more supportmembers comprise support wires or members connected to the structure forthe securing, wherein the support wires or members comprise thesubstantial length. The one or more rotors can include a single set ofrotors connected to a motor on the structure and the one or more supportmembers comprise a single support member, wherein the person is securedto a base connected to the single support member, and wherein the singlesupport member comprises the substantial length. The drone can include asingle person propulsion system. The drone can be automatically guidedto the desired location based on location identifiers and wherein thedesired location is set via a Graphical User Interface orthree-dimensional model of the cell tower. The drone can be one ofmanually operated by the person and by remote control via an operator. Asecond drone can be maintained at the cell tower for backup. Thesubstantial length can be at least 20 feet.

§19.0 UAV Counterbalancing Techniques

Referring to FIGS. 47A, 47B, and 47C, in exemplary embodiments, diagramsillustrate various counterbalance techniques for the UAV 50 including anextendible arm 1600 (FIG. 47A), opposing robotic arms 600A (FIG. 47B),and moveable weights 1650 (FIG. 47C). As described herein, the UAV 50can be used with the robotic arms 600, the payload 602, the connection604, etc. The UAV 50 can be used to attach the antenna 30 to thehorizontal support structures 1100, 1102, and the like. In theseapplications and others, the UAV 50 has weight distribution change whilein flight. Accordingly, the UAV counterbalancing techniques arepresented to compensate for weight distribution change in flight toavoid negative impact on the UAV 50 flight.

Variously, the counterbalancing techniques ensure weight distribution onthe UAV 50 remains substantially the same despite moving members on theUAV 50, e.g., robotic arms 600, the connection 604, etc. In FIG. 47A, afirst counterbalancing technique includes the extendible arm 1600 whichcan extend coincident with movement of the robotic arms 600 to offsetany weight distribution changes. The extension can be in substantiallyan opposite direction as the robotic arms 600 and controlled by theprocessor 102 in the UAV 50 to ensure the weight distribution remainssubstantially the same. The extendible arms 1600 can move back and forthwhile the robotic arms 600 move as well to continually balance theweight distribution. The processor 102 can implement a process tobalance the UAV 50 based on feedback from sensors associated with theUAV 50, such as an accelerometer or the like. The extendible arms 1600can also extend in the embodiment where the connection 604 extends fromthe UAV 50 to connect to the cell tower 12, again to offset the weightdistribution changes.

In FIG. 47B, a second counterbalancing technique includes a second setof robotic arms 600A located on an opposite side of the UAV 50 from therobotic arms 600. Here, any movement by the robotic arms 600 can bemirrored by the second set of robotic arms 600A in the oppositedirection. The robotic arms 600, 600A can be substantially the sameincluding about the same weight. Thus, opposing movement offsets anyweight distribution changes. The benefit of this approach is it requiresa less sophisticated tracking process, i.e., the movements are justopposed versus taking sensor measurements and making changesaccordingly. Also, either set of robotic arms 600, 600A could be usedfor operations thereby making the UAV 50 flight more convenient.

In FIG. 47C, a third counterbalancing technique includes the moveableweights 1650 which can be disposed or attached to the UAV 50, such as ona lower portion. The moveable weights 1650 include one or more weightplates 1650, ball bearings, etc. which have different weights and weightdistribution. The direction or orientation of the plates 1650, ballbearings, etc. can be changed via a rotating member 1654. In thismanner, the moveable weights 1650 can provide various different weightprofiles to counterbalance any movement of items on the UAV 50, such asthe robotic arms 600, the payload 602, etc. The moveable weights 1650can be controlled in a similar manner as the extendible arm 1600.

§20.0 3D Modeling Data Capture Systems and Methods

Again, various exemplary embodiments herein describe applications anduses of 3D models of the cell site 10 and the cell tower 12. Further, ithas been described using the UAV 50 to obtain data capture for creatingthe 3D model. The data capture systems and methods described hereinprovide various techniques and criteria for properly capturing images orvideo using the UAV 50. Referring to FIG. 48, in an exemplaryembodiment, a flow diagram illustrates a 3D model creation process 1700.The 3D model creation process 1700 is implemented on a server or thelike. The 3D model creation process 1700 includes receiving input data,i.e., pictures and/or video. The data capture systems and methodsdescribe various techniques for obtaining the pictures and/or videousing the UAV 50 at the cell site 10. In an exemplary embodiment, thepictures can be at least 10 megapixels and the video can be at least 4 khigh definition video.

The 3D model creation process 1700 performs initial processing on theinput data (step 1702). An output of the initial processing includes asparse point cloud, a quality report, and an output file can be cameraoutputs. The sparse point cloud is processed into a point cloud and mesh(step 1704) providing a densified point cloud and 3D outputs. The 3Dmodel is an output of the step 1704. Other models can be developed byfurther processing the densified point cloud (step 1706) to provide aDigital Surface Model (DSM), an orthomosaic, tiles, contour lines, etc.

The data capture systems and methods include capturing thousands ofimages or video which can be used to provide images. Referring to FIG.49, in an exemplary embodiment, a flowchart illustrates a method 1750using an Unmanned Aerial Vehicle (UAV) to obtain data capture at a cellsite for developing a three dimensional (3D) thereof. The method 1750includes causing the UAV to fly a given flight path about a cell towerat the cell site (step 1752); obtaining data capture during the flightpath about the cell tower, wherein the data capture comprises aplurality of photos or video, wherein the flight path is subjected to aplurality of constraints for the obtaining, and wherein the data capturecomprises one or more location identifiers (step 1754); and, subsequentto the obtaining, processing the data capture to define a threedimensional (3D) model of the cell site based on one or more objects ofinterest in the data capture (step 1756).

The method 1750 can further include remotely performing a site survey ofthe cell site utilizing a Graphical User Interface (GUI) of the 3D modelto collect and obtain information about the cell site, the cell tower,one or more buildings, and interiors thereof (step 1758). A launchlocation and launch orientation can be defined for the UAV to take offand land at the cell site such that each flight at the cell site has thesame launch location and launch orientation. The one or more locationidentifiers can include at least two location identifiers includingGlobal Positioning Satellite (GPS) and GLObal NAvigation SatelliteSystem (GLONASS).

The plurality of constraints can include each flight of the UAV having asimilar lighting condition and at about a same time of day.Specifically, the data capture can be performed on different days ortimes to update the 3D model. Importantly, the method 1750 can requirethe data capture in the same lighting conditions, e.g., sunny, cloudy,etc., and at about the same time of day to account for shadows.

The data capture can include a plurality of photographs each with atleast 10 megapixels and wherein the plurality of constraints can includeeach photograph having at least 75% overlap with another photograph.Specifically, the significant overlap allows for ease in processing tocreate the 3D model. The data capture can include a video with at least4 k high definition and wherein the plurality of constraints can includecapturing a screen from the video as a photograph having at least 75%overlap with another photograph captured from the video.

The plurality of constraints can include a plurality of flight pathsaround the cell tower with each of the plurality of flight paths at oneor more of different elevations, different camera angles, and differentfocal lengths for a camera. The plurality of flight paths can be one of:a first flight path at a first height and a camera angle and a secondflight path at a second height and the camera angle; and a first flightpath at the first height and a first camera angle and a second flightpath at the first height and a second camera angle. The plurality offlight paths can be substantially circular around the cell tower.

In another exemplary embodiment, an apparatus adapted to obtain datacapture at a cell site for developing a three dimensional (3D) thereofincludes a network interface and a processor communicatively coupled toone another; and memory storing instructions that, when executed, causethe processor to cause the UAV to fly a given flight path about a celltower at the cell site; cause data capture during the flight path aboutthe cell tower, wherein the data capture comprises a plurality of photosor video, wherein the flight path is subjected to a plurality ofconstraints for the data capture, and wherein the data capture comprisesone or more location identifiers; and, subsequent to the data capture,process the data capture to define a three dimensional (3D) model of thecell site based on one or more objects of interest in the data capture.

Although the present disclosure has been illustrated and describedherein with reference to preferred embodiments and specific examplesthereof, it will be readily apparent to those of ordinary skill in theart that other embodiments and examples may perform similar functionsand/or achieve like results. All such equivalent embodiments andexamples are within the spirit and scope of the present disclosure, arecontemplated thereby, and are intended to be covered by the followingclaims.

What is claimed is:
 1. A method using an Unmanned Aerial Vehicle (UAV)to obtain data capture at a cell site for developing a three dimensional(3D) thereof, the method comprising: causing the UAV to fly a givenflight path about a cell tower at the cell site; obtaining data captureduring the flight path about the cell tower, wherein the data capturecomprises a plurality of photos or video, wherein the flight path issubjected to a plurality of constraints for the obtaining, and whereinthe data capture comprises one or more location identifiers; andsubsequent to the obtaining, processing the data capture to define athree dimensional (3D) model of the cell site based on one or moreobjects of interest in the data capture.
 2. The method of claim 1,further comprising: remotely performing a site survey of the cell siteutilizing a Graphical User Interface (GUI) of the 3D model to collectand obtain information about the cell site, the cell tower, one or morebuildings, and interiors thereof.
 3. The method of claim 1, wherein alaunch location and launch orientation is defined for the UAV to takeoff and land at the cell site such that each flight at the cell site hasthe same launch location and launch orientation.
 4. The method of claim1, wherein the one or more location identifiers comprise at least twolocation identifiers comprising Global Positioning Satellite (GPS) andGLObal NAvigation Satellite System (GLONASS).
 5. The method of claim 1,wherein the plurality of constraints comprises each flight of the UAVhaving a similar lighting condition and at about a same time of day. 6.The method of claim 1, wherein the data capture comprises a plurality ofphotographs each with at least 10 megapixels and wherein the pluralityof constraints comprises each photograph having at least 75% overlapwith another photograph.
 7. The method of claim 1, wherein the datacapture comprises a video with at least 4 k high definition and whereinthe plurality of constraints comprises capturing a screen from the videoas a photograph having at least 75% overlap with another photographcaptured from the video.
 8. The method of claim 1, wherein the pluralityof constraints comprises a plurality of flight paths around the celltower with each of the plurality of flight paths at one or more ofdifferent elevations, different camera angles, and different focallengths for a camera.
 9. The method of claim 8, wherein the plurality offlight paths are one of: a first flight path at a first height and acamera angle and a second flight path at a second height and the cameraangle; and a first flight path at the first height and a first cameraangle and a second flight path at the first height and a second cameraangle.
 10. The method of claim 8, wherein the plurality of flight pathsare substantially circular around the cell tower.
 11. An apparatusadapted to obtain data capture at a cell site for developing a threedimensional (3D) thereof, the apparatus comprising: a network interfaceand a processor communicatively coupled to one another; and memorystoring instructions that, when executed, cause the processor to causethe UAV to fly a given flight path about a cell tower at the cell site;cause data capture during the flight path about the cell tower, whereinthe data capture comprises a plurality of photos or video, wherein theflight path is subjected to a plurality of constraints for the datacapture, and wherein the data capture comprises one or more locationidentifiers; and subsequent to the data capture, process the datacapture to define a three dimensional (3D) model of the cell site basedon one or more objects of interest in the data capture.
 12. Theapparatus of claim 11, wherein the memory storing instructions that,when executed, further cause the processor to remotely perform a sitesurvey of the cell site utilizing a Graphical User Interface (GUI) ofthe 3D model to collect and obtain information about the cell site, thecell tower, one or more buildings, and interiors thereof.
 13. Theapparatus of claim 11, wherein a launch location and launch orientationis defined for the UAV to take off and land at the cell site such thateach flight at the cell site has the same launch location and launchorientation.
 14. The apparatus of claim 11, wherein the one or morelocation identifiers comprise at least two location identifierscomprising Global Positioning Satellite (GPS) and GLObal NAvigationSatellite System (GLONASS).
 15. The apparatus of claim 11, wherein theplurality of constraints comprises each flight of the UAV having asimilar lighting condition and at about a same time of day.
 16. Theapparatus of claim 11, wherein the data capture comprises a plurality ofphotographs each with at least 10 megapixels and wherein the pluralityof constraints comprises each photograph having at least 75% overlapwith another photograph.
 17. The apparatus of claim 11, wherein the datacapture comprises a video with at least 4 k high definition and whereinthe plurality of constraints comprises capturing a screen from the videoas a photograph having at least 75% overlap with another photographcaptured from the video.
 18. The apparatus of claim 11, wherein theplurality of constraints comprises a plurality of flight paths aroundthe cell tower with each of the plurality of flight paths at one or moreof different elevations, different camera angles, and different focallengths for a camera.
 19. The apparatus of claim 18, wherein theplurality of flight paths are one of: a first flight path at a firstheight and a camera angle and a second flight path at a second heightand the camera angle; and a first flight path at the first height and afirst camera angle and a second flight path at the first height and asecond camera angle.
 20. The apparatus of claim 18, wherein theplurality of flight paths are substantially circular around the celltower.